CN103240228A - No-wear automatic red date grader based on machine vision technology - Google Patents
No-wear automatic red date grader based on machine vision technology Download PDFInfo
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- CN103240228A CN103240228A CN2013102077200A CN201310207720A CN103240228A CN 103240228 A CN103240228 A CN 103240228A CN 2013102077200 A CN2013102077200 A CN 2013102077200A CN 201310207720 A CN201310207720 A CN 201310207720A CN 103240228 A CN103240228 A CN 103240228A
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Abstract
The invention relates to automation on-line no-wear detection grading equipment for red dates, and particularly discloses a no-wear automatic red date grader based on a machine vision technology. The no-wear automatic red date grader comprises a machine vision system, the no-wear automatic red date grader is characterized by comprising a running roller convey chain plate device (2), wherein a feed end of the running roller convey chain plate device (2) is provided with a feeding hopper (1), and an illumination and CCD (charge-coupled device) camera unit (5) of the machine vision system is installed above the running roller convey chain plate device (2); one side of the running roller convey chain plate device (2) arranged in back of the illumination and CCD camera unit (5) is provided with a plurality of classifying conveying channels (8), and the other side of the running roller convey chain plate device (2) is provided with an actuating mechanism; and the actuating mechanism is connected with an industrial controller (4) of the machine vision system. The no-wear automatic red date grader based on the machine vision technology, provided by the invention, can recognize and classify the red date fruits according to comprehensive indexes of the size, the shape and the color.
Description
Technical field
The present invention relates to red date automatic online Non-Destructive Testing classifying equipoment, the harmless automatic grader of especially a kind of red date based on machine vision technique.
Background technology
The fruit of red date, namely jujube really is the prolate ellipsoid body, the crisp easy damaged of the thin matter of skin, really preserve, pack and realize the high quality and favourable price sale for the ease of jujube, must carry out the Non-Destructive Testing classification after it is plucked, namely reject damage, pathology fruit, and by size, indexs such as shape, color carry out rapid classification.Current fruit is adopted the back classification and is adopted mechanical type more, and small part to large-scale fruit (circular fruit such as apple, oranges and tangerines) exploitation, is not suitable for the jujube fruit of individual less, shape elliposoidal based on the classifying equipoment spininess of machine vision technique.Therefore realize the really a plurality of key technical problems of quick nondestructive detection classification palpus breakthrough of jujube: at first should be divided into monomer one by one to jujube fruit in heaps automatically, and being arranged in of its direction unanimity put in order on the conveyer belt, send into image acquisition region; Video camera is installed in conveyer belt top, should obtain jujube fruit multilist surface information in the course of conveying as far as possible, so that jujube fruit matter is accurately judged, should guarantee simultaneously that video camera accurately triggers to take pictures when jujube really is delivered to correct position; Information such as the outside integrated quality of jujube fruit and internal sugar acidity produce classification order control executing agency corresponding jujube really are delivered to respective channel after the industrial computer software analysis is handled, the classification mechanism action should be accurately, quick, also can carry out the multichannel classification.To realize that simultaneously whole classification process automation finishes, must design sensitivity higher, the multisensor control system that antijamming capability is strong.
Summary of the invention
The purpose of this invention is to provide the harmless automatic grader of a kind of red date based on machine vision technique, can under undamaged condition, realize high speed, classification automatically to red date.
The harmless automatic grader of a kind of red date based on machine vision technique, comprise NI Vision Builder for Automated Inspection, its special feature is: comprise running roller transporting chain plate device, feed end at this running roller transporting chain plate device is equipped with elevating hopper, the illumination of described NI Vision Builder for Automated Inspection and CCD camera unit are installed in above this running roller transporting chain plate device, thereby can take the red date image on the running roller transporting chain plate device; Running roller transporting chain plate device one side at this illumination and CCD camera unit rear is equipped with some classification transfer passages, and at this running roller transporting chain plate device opposite side executing agency is installed, this executing agency is connected with the Industrial Control Computer of described NI Vision Builder for Automated Inspection, thereby according to the image of taking red date is sent into corresponding classification transfer passage.
Wherein the Industrial Control Computer in the NI Vision Builder for Automated Inspection is connected with PLC, and this PLC is connected with executing agency by control relay circuit.
Wherein executing agency comprises high-pressure air source device and the air nozzle by pipeline connection.
Is made up of an oblique ascent stage and a horizontal segment for one section of red date to be fractionated operation on its middle roll transporting chain plate device, described illumination and CCD camera unit are installed in above this horizontal segment.
Its middle roll transporting chain plate device comprises chain-drive mechanism, this chain-drive mechanism is provided with two parallel and be synchronized with the movement driving-chains, between these two driving-chains, some roll shafts are installed, the two ends of each roll shaft all are installed on two driving-chains by bearing, thereby make each roll shaft all can be around its rotation, be equipped with the groove of a ring-type in addition in the centre of each roll shaft, thereby between adjacent two roll shafts, form one and the corresponding pit of single red date size.
Wherein the sprocket wheel of chain-drive mechanism is in transmission connection by transmission mechanism, decelerator and motor successively.
Wherein be equipped with near switch or optoelectronic switch in that at least one sprocket wheel of chain-drive mechanism is other, this is connected with Industrial Control Computer in the NI Vision Builder for Automated Inspection near switch or optoelectronic switch.
Wherein be installed with a flexible rubbing plate below the oblique ascent stage of running roller transporting chain plate device, the surface of this flexibility rubbing plate contacts with the roll shaft that this oblique ascent stage is located, thereby can drive the roll shaft rotation; And below the horizontal segment of running roller transporting chain plate device, also being installed with a flexible rubbing plate, the surface of this flexibility rubbing plate contacts with the roll shaft at this horizontal segment place, thereby can drive the roll shaft rotation.
Wherein flexible rubbing plate comprises base plate, is coated with the thick spongy layer of 2-3cm at this backplate surface.
Wherein the discharge end at the classification transfer passage also is equipped with fruit automatic weighting packaging system, this fruit automatic weighting packaging system comprises feed unit, exit at this feed unit is equipped with hopper, below this hopper, LOAD CELLS is installed, and in this feed hopper bottom movable floor is installed, below this movable floor, also be provided with the packing case conveyer belt, place the packing case place at this packing case conveyer belt position-sensing switch is installed; Also comprise control module, this control module is electrically connected with controller and the position-sensing switch of the controller of aforementioned feed unit, LOAD CELLS, packing case conveyer belt respectively; Wherein feed unit is made up of the conveyer belt of three different amount of feeding, and the controller of each conveyer belt all is electrically connected with described control module, and fruit of the each feeding of conveyer belt of amount of feeding minimum wherein.
Wherein movable floor is hinged on the hopper, and thereby this movable floor also is connected with the piston rod of switching mechanism and can makes base plate rotate to open or close hopper, this switching mechanism adopts cylinder or oil cylinder, and the controller of this switching mechanism is electrically connected with described control module.
Wherein all conveyer belts all adopt the operation of going up a slope to arrange, and and at conveyer belt flexible baffle is installed, thereby prevent the fruit landing, on the hopper inner surface, post flexible material with the fruit contact position; At the packing case conveyer belt baffle plate is installed, is synchronized with the movement together thereby can drive packing case; Below hopper, be evenly equipped with 3 LOAD CELLSs, and these 3 LOAD CELLSs lay respectively at both sides and the centre position of hopper; Wherein control module adopts single-chip microcomputer or PLC, in the junction of LOAD CELLS and hopper shock absorbing rubber is installed in addition.
The invention provides the harmless automatic grader of a kind of red date based on machine vision technique, damage, disease in the red date in heaps really can be rejected, and according to the market demand, jujube fruit size, shape, color overall target are identified classification.Jujube fruit matter information is finished by Machine Vision Detection, and IMAQ should comprise the feature on a plurality of surfaces of jujube fruit, and the quality discriminance analysis is finished by corresponding industrial computer software, and by industrial computer programme-control executing agency rapid classification.Classification process automaticity height, each link are connected closely, and the classification accuracy rate is high and to the red date not damaged.The present invention is a kind of jujube fruit quick nondestructive automation classifying equipoment based on mechanical vision inspection technology, can realize that red date automation, quick nondestructive, the many indexs of inside and outside quality detect classification.
Description of drawings
Accompanying drawing 1 is structural representation of the present invention;
Accompanying drawing 3 is logic theory block diagram of the present invention;
Accompanying drawing 4 is the structural representation of fruit automatic weighting packaging system among the present invention;
Accompanying drawing 5 is the vertical view of fruit automatic weighting packaging system among the present invention;
Accompanying drawing 6 is the main control flow chart of fruit automatic weighting packaging system control module among the present invention.
The specific embodiment
As shown in Figure 1, 2, 3, the present invention is the harmless automatic grader of a kind of red date based on machine vision technique, comprise NI Vision Builder for Automated Inspection, also comprise running roller transporting chain plate device 2, feed end at this running roller transporting chain plate device 2 is equipped with elevating hopper 1, the illumination of NI Vision Builder for Automated Inspection and CCD camera unit 5 are installed in above this running roller transporting chain plate device 2, thereby can take the red date image on the running roller transporting chain plate device 2; Running roller transporting chain plate device 2 one sides at this illumination and CCD camera unit 5 rears are equipped with some classification transfer passages 8, and at these running roller transporting chain plate device 2 opposite sides executing agency is installed, this executing agency is connected with the Industrial Control Computer 4 of described NI Vision Builder for Automated Inspection, thereby according to the image of taking red date is blown into corresponding classification transfer passage 8.
Wherein NI Vision Builder for Automated Inspection comprises that illumination and CCD camera unit 5, video frequency collection card, Industrial Control Computer 4(are industrial computer), Industrial Control Computer 4 wherein is connected with PLC, and this PLC is connected with executing agency by control relay circuit.Executing agency adopts pneumatic actuator, comprises high-pressure air source device 6 and air nozzle 7 by pipeline connection, and the controller of this high-pressure air source device 6 is connected with control relay circuit.
Formed by an oblique ascent stage and a horizontal segment for one section of red date to be fractionated operation on the running roller transporting chain plate device 2, described illumination and CCD camera unit 5 are installed in this horizontal segment top, and air nozzle 7 and classification transfer passage 8 are installed in the both sides of this horizontal segment respectively.Below the oblique ascent stage of running roller transporting chain plate device 2, be installed with a flexible rubbing plate 3 in addition, its base plate is the rigidity material, rigid surface fixedly has the spongy layer of 2-3cm, and the surface of this flexibility rubbing plate 3 contacts with the roll shaft 11 that this oblique ascent stage is located, thereby can drive roll shaft 11 rotations; And below the level of running roller transporting chain plate device 2, also being installed with a flexible rubbing plate 3, the surface of this flexibility rubbing plate 3 contacts with the roll shaft 11 that this oblique ascent stage is located, thereby can drive roll shaft 11 rotations.
Its middle roll transporting chain plate device 2 comprises chain-drive mechanism, this chain-drive mechanism is provided with two parallel and be synchronized with the movement driving-chains 12, between these two driving-chains 12, some roll shafts 11 are installed, the two ends of each roll shaft 11 all are installed on two driving-chains 12 by bearing, thereby make each roll shaft 11 all can be around its rotation, be equipped with the groove of a ring-type in addition in the centre of each roll shaft 11, thereby between adjacent two roll shafts 11, form one and the corresponding pit of single red date size, pit is roughly ellipse, long axis direction 3-4cm is about maximum spacing 1cm.
The sprocket wheel of chain-drive mechanism is in transmission connection by transmission mechanism, decelerator and motor 10 successively.Be equipped with near switch or optoelectronic switch 9 in that at least one sprocket wheel of chain-drive mechanism is other in addition, this is connected with Industrial Control Computer 4 in the NI Vision Builder for Automated Inspection near switch or optoelectronic switch 9.
Operation principle of the present invention is:
The bright jujube of plucking really is deposited in elevating hopper 1, roll shaft 11 is fixed in and forms transporting chain plate on the carrier chain, the jujube fruit makes progress with running roller transporting chain plate device 2 in the lifting process, bulk deposition is on transporting chain plate, roll shaft 11 self has certain radian, form a pit between any two roll shafts 11, the pit size only can make a jujube fruit stable position; There is certain proper angle the oblique ascent stage of transporting chain plate, the about 30-40 of angle °, the jujube fruit of stable position is transmitted, the jujube fruit landing downwards of astable position with transporting chain plate.
Below oblique ascent stage of running roller transporting chain plate device 2 and horizontal segment, flexible rubbing plate 3 is housed, produce friction with running roller, make its constantly rotation in running, running roller is rubbing jujube fruit again, part jujube fruit is stable at potential energy extreme lower position between carrier bar two running rollers gradually in rotary course, because only holding a jujube fruit stable position between two running roller pit arcs, the jujube fruit of other less stable tumbles downwards along the transporting chain plate inclined-plane, seeks settling position again.The jujube fruit arragement direction unanimity of stable position, enter image acquisition areas with transporting chain plate, image acquisition areas running roller below is equipped with flexible rubbing plate 3 equally, when the rubbing roll shaft rotates, running roller frictional force makes the constantly rotation in course of conveying of jujube fruit, makes the CCD camera can repeatedly take the different surfaces of same jujube fruit, and image information is sent into industrial computer, behind software analysis, can obtain the information such as surface size, shape, damage of jujube fruit.Utilize information fusion technology to obtain the outside integrated quality grade of jujube fruit at last, give pneumatic type classification executing agency.
For example with jujube fruit surface whether damage being arranged separately is that example is classified, specifically with damage≤1 place and damaged area≤2mm
2Be standard, surpass the substandard product that is decided to be of this standard, judgement should enter substandard product classification passage, otherwise then judges the classification passage that enters qualified products.
When jujube really was transported to the respective level passage, air nozzle 7 really blew into corresponding classification transfer passage 8 to jujube and finishes classification.
It is chain that running roller transporting chain plate device 2 adopts driving-chain 12() drive, at sprocket shaft induction sprocket wheel and sensor are installed, the movable information of driving-chain 12 is sent to industrial computer, driving-chain 12 is whenever passed by the triggering of a chain link sensor counting once, triggering signal can be controlled the CCD camera and carry out IMAQ, and count results is used for control pneumatic type classification executing agency and produces the classification action at passage place, respective level position.Owing between illumination and CCD camera unit 5 and the air nozzle 7 certain distance is arranged, therefore industrial computer draws the image digitization result and is temporary in the industrial computer buffer memory, when red date was transported to respective level classification position, the sensor counting was finished, and release control signal is finished classification and carried out action.
Shown in Fig. 4,5,6, the present invention also comprises fruit automatic weighting packaging system, comprises feed unit 1, and this feed unit 1 is made up of the conveyer belt of three different amount of feeding, and the controller of each conveyer belt all is electrically connected with control module.All conveyer belts all adopt the operation of going up a slope to arrange, and and at conveyer belt flexible baffle is installed, thereby prevent the fruit landing, and fruit of the each feeding of the conveyer belt of amount of feeding minimum.
In the exit of this feed unit 1 hopper 3 is installed, below this hopper 3, LOAD CELLS 2 is installed, specifically be below hopper 3, to be evenly equipped with 3 LOAD CELLSs 2, namely an end of these 3 LOAD CELLSs 2 is fixed and the other end supports hopper 3 jointly, and these 3 LOAD CELLSs 2 lay respectively at the both sides of hopper 3 and centre totally 3 positions.
And in these hopper 3 bottoms movable floor 5 is installed, specifically be that this movable floor 5 is hinged on the hopper 3, thereby thereby and this movable floor 5 also be connected with the piston rod of switching mechanism 4 and can make base plate rotation open or close hopper 3, this switching mechanism 4 adopts cylinder or oil cylinder, and the controller of this switching mechanism 4 is electrically connected with described control module.
Below this movable floor 5, also be provided with packing case conveyer belt 8, place packing case 6 places at this packing case conveyer belt 8 position-sensing switch 7 is installed; Also comprise control module, this control module is electrically connected with the controller of controller, LOAD CELLS 2, position-sensing switch 7 and the packing case conveyer belt 8 of aforementioned feed unit 1 respectively.Control module adopts realizations such as single-chip microcomputer or PLC, in the junction of LOAD CELLS 2 and hopper 3 shock absorbing rubber is installed in addition.
Wherein on hopper 3 inner surfaces, post flexible material with the fruit contact position, as soft silica gel, high-density sponge etc.At packing case conveyer belt 8 baffle plate is installed, is synchronized with the movement together thereby can drive packing case 6.
Three conveyer belts load fruit amount difference among the present invention, and respectively have one to overlap transmission system, its operation is controlled separately by each self-controller, as shown in Figure 2, the 3rd (third channel) conveying capacity maximum from top to bottom, article one, (first passage) conveying capacity is taken second place, middle second (second channel) conveying capacity minimum, and each amount of feeding only is 1 fruit.In addition three LOAD CELLSs 2 are installed in three of hopper 3 respectively not on the ipsilateral, LOAD CELLS 2 load are carried out reasonable distribution, guarantee the stability to hopper 3 supports, consider mechanism action simultaneously to the impact of LOAD CELLS 2, adopt rubber to do damping in LOAD CELLS 2 and the junction of hopper 3 and handle.
Three LOAD CELLSs 2 are sent signal to the fruit from different conveyer belts according to actual needs respectively, to guarantee the action of follow-up executing agency.After fruit enters hopper 3, by the action of cylinder, make the movable floor 5 of hopper 3 belows open discharging.In order to prevent that fruit from damaging when falling into hopper 3, designed the padded coaming of environmental-protecting material at hopper 3 inner surface walls, thereby guaranteed the intact of fruit preferably.Packing case conveyer belt 8 adopts chain to carry, and every a segment distance one baffles is installed on the carrier bar, can promote packing case 6 and carrier chain synchronous operation.
The operation principle of fruit automatic weighting packaging system is among the present invention:
Article three, the feed end of conveyer belt all is communicated with the discharge end of same classification transfer passage 8, article three, conveyer belt is all sent into fruit the hopper 3 that is supported by three LOAD CELLSs 2, open for rotating hopper 3 bottoms, the controlled activity base plate 5 that closes, 5 times outlets of movable floor are over against packing case 6, when hopper 3 weight reach rated capacity, (hopper 3 is supported by three weight sensors three LOAD CELLS 2 triggering signals jointly, therefore be only the weight of whole hopper 3 after three sensor values additions), send instruction by control module and make movable floor 5 upsets, fruit falls to entering in the packing case 6.
Be example with the red date, according to the oxed weight requirement, when red date weight in the hopper 3 reach specified weigh 90% before, three conveyer belts are worked simultaneously, when reach specified weigh 90% the time, a conveyer belt of maximum quits work, surpass specified weighing after 99%, a conveyer belt of medium conveying capacity also quits work, only the conveying capacity minimum a conveyer belt job, its each amount of feeding is 1 red date, therefore can control the oxed weight error in the weight of 1 red date.
Wherein the operation of packing case 6 is jointly controlled with position-sensing switch 7 by LOAD CELLS 2 setting value, and when the packing case 6 of sky was delivered to movable floor 5 positions over against hopper 3, position-sensing switch 7 disconnected, and packing case conveyer belt 8 is out of service; Pick up counting when hopper 3 weight reach setting value, the fruit in the timing course in the hopper 3 falls into packing case 6, and the vanning time is 5s, and timing is finished, and packing case conveyer belt 8 drives the packing case 6 of filling fruit and brings into operation again.
Claims (10)
1. the red date based on machine vision technique can't harm automatic grader, comprise NI Vision Builder for Automated Inspection, it is characterized in that: comprise running roller transporting chain plate device (2), feed end at this running roller transporting chain plate device (2) is equipped with elevating hopper (1), the illumination of described NI Vision Builder for Automated Inspection and CCD camera unit (5) are installed in this running roller transporting chain plate device (2) top, thereby can take the red date image on the running roller transporting chain plate device (2); Running roller transporting chain plate device (2) one sides at this illumination and CCD camera unit (5) rear are equipped with some classification transfer passages (8), and at this running roller transporting chain plate device (2) opposite side executing agency is installed, this executing agency is connected with the Industrial Control Computer (4) of described NI Vision Builder for Automated Inspection, thereby according to the image of taking red date is sent into corresponding classification transfer passage (8).
2. the red date based on machine vision technique as claimed in claim 1 can't harm automatic grader: wherein the Industrial Control Computer in the NI Vision Builder for Automated Inspection (4) is connected with PLC, and this PLC is connected with executing agency by control relay circuit.
3. the red date based on machine vision technique as claimed in claim 1 can't harm automatic grader, and it is characterized in that: wherein executing agency comprises high-pressure air source device (6) and the air nozzle (7) by pipeline connection.
4. the red date based on machine vision technique as claimed in claim 1 can't harm automatic grader, it is characterized in that: its middle roll transporting chain plate device (2) is gone up a section of red date operation to be fractionated and is made up of an oblique ascent stage and a horizontal segment, and described illumination and CCD camera unit (5) are installed in above this horizontal segment.
5. as any harmless automatic grader of described red date based on machine vision technique in the claim 1 to 4, it is characterized in that: its middle roll transporting chain plate device (2) comprises chain-drive mechanism, this chain-drive mechanism is provided with two parallel and be synchronized with the movement driving-chains (12), between these two driving-chains (12), some roll shafts (11) are installed, the two ends of each roll shaft (11) all are installed on two driving-chains (12) by bearing, thereby make each roll shaft (11) all can be around its rotation, be equipped with the groove of a ring-type in addition in the centre of each roll shaft (11), thereby between adjacent two roll shafts (11), form one and the corresponding pit of single red date size.
6. the red date based on machine vision technique as claimed in claim 5 can't harm automatic grader, and it is characterized in that: wherein the sprocket wheel of chain-drive mechanism is in transmission connection by transmission mechanism, decelerator and motor (10) successively; Be equipped with near switch or optoelectronic switch (9) in that at least one sprocket wheel of chain-drive mechanism is other in addition, this is connected with Industrial Control Computer (4) in the NI Vision Builder for Automated Inspection near switch or optoelectronic switch (9).
7. the red date based on machine vision technique as claimed in claim 5 can't harm automatic grader, it is characterized in that: wherein be installed with a flexible rubbing plate in the oblique ascent stage below of running roller transporting chain plate device (2), the surface of this flexibility rubbing plate (3) contacts with the roll shaft (11) that this oblique ascent stage is located, thereby can drive roll shaft (11) rotation; And also being installed with a flexible rubbing plate (3) in the horizontal segment below of running roller transporting chain plate device (2), the surface of this flexibility rubbing plate (3) contacts with the roll shaft (11) at this horizontal segment place, thereby can drive roll shaft (11) rotation; This flexibility rubbing plate (3) comprises base plate, is coated with the thick spongy layer of 2-3cm at this backplate surface.
8. as any harmless automatic grader of described red date based on machine vision technique in the claim 1 to 4, it is characterized in that: wherein the discharge end at classification transfer passage (8) also is equipped with fruit automatic weighting packaging system, this fruit automatic weighting packaging system comprises feed unit (101), in the exit of this feed unit (101) hopper (103) is installed, in this hopper (103) below LOAD CELLS (102) is installed, and in this hopper (103) bottom movable floor (105) is installed, also be provided with packing case conveyer belt (108) in this movable floor (105) below, place packing case (106) at this packing case conveyer belt (108) and locate to be equipped with position-sensing switch (107);
Also comprise control module, this control module is electrically connected with controller and the position-sensing switch (107) of the controller of aforementioned feed unit (101), LOAD CELLS (102), packing case conveyer belt (108) respectively;
Wherein feed unit (101) is made up of the conveyer belt of three different amount of feeding, and the controller of each conveyer belt all is electrically connected with described control module, and fruit of the each feeding of conveyer belt of amount of feeding minimum wherein.
9. the red date based on machine vision technique as claimed in claim 8 can't harm automatic grader, it is characterized in that: wherein movable floor (105) is hinged on the hopper (103), and this movable floor (105) also with switching mechanism (104) thus piston rod be connected and can make base plate rotate to open or close hopper (103), this switching mechanism (104) adopts cylinder or oil cylinder, and the controller of this switching mechanism (104) is electrically connected with described control module.
10. the red date based on machine vision technique as claimed in claim 8 can't harm automatic grader, it is characterized in that: wherein all conveyer belts all adopt the operation of going up a slope to arrange, and and at conveyer belt flexible baffle is installed, thereby prevent the fruit landing, on hopper (103) inner surface, post flexible material with the fruit contact position; At packing case conveyer belt (108) baffle plate is installed, is synchronized with the movement together thereby can drive packing case (106); Be evenly equipped with 3 LOAD CELLSs (102) in hopper (103) below, and these 3 LOAD CELLSs (102) lay respectively at both sides and the centre position of hopper (103); Wherein control module adopts single-chip microcomputer or PLC, in the junction of LOAD CELLS (102) and hopper (103) shock absorbing rubber is installed in addition.
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