CN104492731B - The intelligent Folium Camelliae sinensis sorting system identified based on Lao Ye - Google Patents
The intelligent Folium Camelliae sinensis sorting system identified based on Lao Ye Download PDFInfo
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- CN104492731B CN104492731B CN201510026467.8A CN201510026467A CN104492731B CN 104492731 B CN104492731 B CN 104492731B CN 201510026467 A CN201510026467 A CN 201510026467A CN 104492731 B CN104492731 B CN 104492731B
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Abstract
The present invention relates to a kind of intelligent Folium Camelliae sinensis sorting system identified based on Lao Ye, including sorting tray, sorting arrangement, Lao Ye storage bin, Folium Camelliae sinensis identification mechanism and flush bonding processor, described sorting tray is a plane pallet, Folium Camelliae sinensis to be sorted is deposited for distributing, described Folium Camelliae sinensis identification mechanism is for shooting described Folium Camelliae sinensis to be sorted to obtain Folium Camelliae sinensis image, described Folium Camelliae sinensis image is performed image procossing to identify each Lao Ye in described Folium Camelliae sinensis to be sorted, described flush bonding processor is connected respectively with described Folium Camelliae sinensis identification mechanism and described sorting arrangement, control described sorting arrangement based on described processing result image and sort out each Lao Ye in described Folium Camelliae sinensis to be sorted, and be placed in described Lao Ye storage bin.By means of the invention it is possible to the Lao Ye automatically identified in Folium Camelliae sinensis, accurately complete the efficient sorting of young leaves Lao Ye.
Description
Technical field
The present invention relates to Folium Camelliae sinensis sorting field, particularly relate to a kind of intelligent Folium Camelliae sinensis identified based on Lao Ye
Sorting system.
Background technology
Folium Camelliae sinensis refers to leaf or the bud of Camellia sinensis, can directly steep drink with boiled water.According to kind and production method
And product design is divided into variety classes.Tea-leaf beverage is described as " one of big beverage in the world three ".
The plantation of Folium Camelliae sinensis is with a long history, and planting area is widely distributed, such as China the greater part, India,
All there is substantial amounts of Chan Cha district in Sri Lanka, Russia etc..Folium Camelliae sinensis contains catechin, cholestenone, coffee
The compositions such as coffee alkali, inositol, folic acid, pantothenic acid, drink Folium Camelliae sinensis and can not only promote refreshment, and can
Regulation body interior environment, therefore receives the favor of food, drink and sex-man's prime wants greatly.
In the production process of Folium Camelliae sinensis, the harvesting of Folium Camelliae sinensis and sorting are that a work consuming is time-consuming, seasonal strong
Operation.Wherein, the sorting of Folium Camelliae sinensis is the most extremely necessary, if do not sorted, and the most final product quality
Uneven, it is impossible to provide orientation service for various demand crowds.Folium Camelliae sinensis sorting side of the prior art
Formula has two kinds, and the first is manual type, and labor intensity is greatly, costly and inefficiency, the second
It is Folium Camelliae sinensis sorting machine mode, although this mode efficiency is high, but lacks and sort strategy targetedly,
The effect causing sorting is poor.
Accordingly, it would be desirable to a kind of new Folium Camelliae sinensis sorting mode, it is possible to based on machine sort, substitute numerous
The manual sorting process of trivial complexity, and the most accurate recognition mechanism can be set up, to tea to be sorted
Leaf realizes Lao Ye and the effectively identification of young leaves and separates.
Summary of the invention
In order to solve the problems referred to above, the invention provides a kind of intelligent Folium Camelliae sinensis identified based on Lao Ye and divide
Picking system, the Folium Camelliae sinensis transmitting distributing discharge by transmitting machinery in turn supplies sorting, by efficient figure
As the Lao Ye in Folium Camelliae sinensis to be sorted is detected and separates by recognition method, it is established that a set of equalization efficiency,
The Folium Camelliae sinensis sorting system of precision and cost payout, improves the intelligent level of Folium Camelliae sinensis sorting.
According to an aspect of the present invention, it is provided that a kind of intelligent Folium Camelliae sinensis identified based on Lao Ye sorts system
System, described sorting system includes sorting tray, sorting arrangement, Lao Ye storage bin, Folium Camelliae sinensis identification mechanism
And flush bonding processor, described sorting tray is a plane pallet, deposits tea to be sorted for distributing
Leaf, described Folium Camelliae sinensis identification mechanism is for shooting described Folium Camelliae sinensis to be sorted to obtain Folium Camelliae sinensis image, to institute
State Folium Camelliae sinensis image and perform image procossing to identify each Lao Ye in described Folium Camelliae sinensis to be sorted, described embedding
Formula processor is connected respectively with described Folium Camelliae sinensis identification mechanism and described sorting arrangement, at described image
Sorting arrangement described in reason output control sorts out each Lao Ye in described Folium Camelliae sinensis to be sorted, and is placed into
In described Lao Ye storage bin.
More specifically, in the described intelligent Folium Camelliae sinensis sorting system identified based on Lao Ye, also include:
Infrared distance measurement equipment, is arranged on described Folium Camelliae sinensis identification mechanism, and in the face of described sorting tray, is used for
Identifying the tray center relative distance to described Folium Camelliae sinensis identification mechanism, described infrared distance measurement equipment includes red
Outside line ballistic device, infrared receiver device and single-chip microcomputer, described infrared emitting device is to described point
Picking tray center position and launch infrared ray, described infrared receiver device is received from described sorting tray
The infrared ray that heart position reflects, described single-chip microcomputer and described infrared emitting device and described infrared
Line receiver part connects respectively, launches infrared ray time, described red based on described infrared emitting device
Outside line receiving device receiving infrared-ray time and infrared ray propagation rate, calculate described tray center to institute
State the relative distance of Folium Camelliae sinensis identification mechanism；Actuating device, is used for placing described sorting tray, and by institute
State sorting tray and be sent to the underface of described Folium Camelliae sinensis identification mechanism；Storage device, is used for prestoring
Green channel threshold value and turquoise channel difference values threshold value, be additionally operable to prestore Folium Camelliae sinensis upper limit gray threshold and
Folium Camelliae sinensis lower limit gray threshold, described Folium Camelliae sinensis upper limit gray threshold and described Folium Camelliae sinensis lower limit gray threshold are used for
By the Folium Camelliae sinensis in image and background separation；Position sensor, is arranged on described sorting arrangement, is used for
The current location of described sorting arrangement is provided in real time；Described Folium Camelliae sinensis identification mechanism include image acquisition device and
Image processor, described image acquisition device with Folium Camelliae sinensis image described in the resolution acquisition of 1280 × 1024,
Described image processor is connected respectively with described image acquisition device and described storage device, and described image is adopted
Storage includes pretreatment unit, gray processing processing unit, Folium Camelliae sinensis cutting unit and Folium Camelliae sinensis recognition unit,
Described pretreatment unit is connected with described image acquisition device, uses the filter pattern pair of 4 pixel × 4 pixels
Described Folium Camelliae sinensis image perform medium filtering, to export pretreatment image, described gray processing processing unit with
Described pretreatment unit connects, and described pretreatment image is performed gray processing and processes, with output gray level
Image, described Folium Camelliae sinensis cutting unit and described gray processing processing unit, described storage device and described figure
As harvester connects respectively, by gray value in described gray level image at described Folium Camelliae sinensis upper limit gray threshold
And pixel identification between described Folium Camelliae sinensis lower limit gray threshold form multiple Folium Camelliae sinensis sub pattern, based on institute
State multiple Folium Camelliae sinensis subimage position in described Folium Camelliae sinensis image and described Folium Camelliae sinensis image is carried out corresponding positions
Put the segmentation of image, obtain corresponding multiple colored Folium Camelliae sinensis subimage, described Folium Camelliae sinensis recognition unit and institute
State Folium Camelliae sinensis cutting unit and described storage device connects respectively, receive the plurality of colored Folium Camelliae sinensis subimage
With described Folium Camelliae sinensis image, to each colored Folium Camelliae sinensis subimage, green channel values based on all pixels
The average green channel value of the colored Folium Camelliae sinensis subimage of statistics, green channel values based on all pixels and institute
There is the average turquoise channel difference values of the blue channel Data-Statistics colour Folium Camelliae sinensis subimage of pixel, when described flat
All green channel values are less than less than or equal to described green channel threshold value and described average turquoise channel difference values
During equal to described turquoise channel difference values threshold value, it is determined that colored Folium Camelliae sinensis subimage is old foliage color image, will
The old foliage color image region that occupies in described Folium Camelliae sinensis image exports as Lao Ye position, when described flat
All green channel values are more than described more than described green channel threshold value or described average turquoise channel difference values
During turquoise channel difference values threshold value, it is determined that colored Folium Camelliae sinensis subimage is young leaves coloured image；Described embedded
Processor and described infrared distance measurement equipment, described Folium Camelliae sinensis recognition unit, described position sensor and described
Sorting arrangement connects respectively, receives the relative distance of described infrared distance measurement equipment output, the knowledge of described Folium Camelliae sinensis
All Lao Ye positions of other unit output and the current location of described position sensor output, based on described
Relative distance and described all Lao Ye positions determine that all old blde pitches are from the of described Folium Camelliae sinensis identification mechanism
One absolute distance, the first absolute distances based on described all Lao Ye and the Folium Camelliae sinensis identification mechanism preset divide
Pick equipment room away from determining all old blde pitches the second absolute distance from described sorting arrangement, work as based on described
Front position and second absolute distance of described all Lao Ye, determine that described sorting arrangement needs to move to respectively
Each shift value at individual Lao Ye, is included in each shift value described in displacement drive signal and to institute
State sorting arrangement to send, sort each in described Folium Camelliae sinensis to be sorted one by one controlling described sorting arrangement
Lao Ye；Wherein, described pretreatment unit, described gray processing processing unit, described Folium Camelliae sinensis cutting unit
It is respectively adopted different fpga chips with described Folium Camelliae sinensis recognition unit to realize；Described sorting arrangement is dividing
After having picked each Lao Ye in described Folium Camelliae sinensis to be sorted, send sorting to described flush bonding processor complete
Signal, complete for described sorting signal is sent to described actuating device, is used for by described flush bonding processor
Control described actuating device and described sorting tray is conducted away from the underface of described Folium Camelliae sinensis identification mechanism.
More specifically, in the described intelligent Folium Camelliae sinensis sorting system identified based on Lao Ye, also include:
Young leaves storage bin, for being conducted away from described Folium Camelliae sinensis identification mechanism at described actuating device by described sorting tray
Underface after, receive each Lao Ye having sorted in described Folium Camelliae sinensis to be sorted in described sorting tray
After residue Folium Camelliae sinensis.
More specifically, in the described intelligent Folium Camelliae sinensis sorting system identified based on Lao Ye, described transmission
Device is an annular circulating conveyer belt.
More specifically, in the described intelligent Folium Camelliae sinensis sorting system identified based on Lao Ye, replace respectively
Using the implementation of different fpga chips, described pretreatment unit, described gray processing process single
Folium Camelliae sinensis cutting unit first, described and described Folium Camelliae sinensis recognition unit are integrated on one piece of fpga chip.
More specifically, in the described intelligent Folium Camelliae sinensis sorting system identified based on Lao Ye, described storage
Equipment has also prestored the Folium Camelliae sinensis identification mechanism sorting arrangement spacing preset, described Folium Camelliae sinensis identification mechanism
Sorting arrangement spacing is the fixed range between described Folium Camelliae sinensis identification mechanism and described sorting arrangement.
More specifically, in the described intelligent Folium Camelliae sinensis sorting system identified based on Lao Ye, described position
Sensor is Two-Dimensional Moment configuration position sensor, contacts position by detecting self with described sorting arrangement
Put the current location determining described sorting arrangement in real time.
Accompanying drawing explanation
Below with reference to accompanying drawing, embodiment of the present invention are described, wherein:
Fig. 1 is
The block diagram of system.
Fig. 2 is
The block diagram of the infrared distance measurement equipment of system.
Detailed description of the invention
The intelligent Folium Camelliae sinensis sorting system identified based on Lao Ye to the present invention below with reference to accompanying drawings
Embodiment is described in detail.
Folium Camelliae sinensis and coffee, cocoa the referred to as world three over-drinking fragrant flower tea material.Folium Camelliae sinensis refers to and can be used for making tea
The leaf of evergreen shrubs Camellia sinensis, and with the brewed beverage of these leaves, be extended to institute later useful
The herbal tea that plant flowers, leaf, seed, root are brewed, such as " chrysanthemum scented tea " etc.；Brewed with various medical materials
" herbal tea " etc..Also there is the tea bubbled out with other leaves of plants such as fruit and Rhizoma et radix valerianae in some country, as
" fruit tea ".
Drink tea the most still traditional dining culture, simultaneously as containing multiple antioxidant with anti-in tea
Chemotrophy element, has certain effect for eliminating free radical.Therefore having tea, it is anti-old also to help, and tool is supported
Raw health care, drinks 3 two cups of tea every day and can play anti-old effect.Containing multivitamin in Folium Camelliae sinensis
And aminoacid, have tea greasy for edible vegetable oil solution, strengthen neural excitation and the diuresis that helps digestion also has certain
Effect.
But, due to the upgrowth situation of Folium Camelliae sinensis differ, growth time inconsequent, unified pluck after
The tea quality obtained is not consistent, in order to meet the consumer groups to the Folium Camelliae sinensis diversification of demand, necessary
Before selling tea product, Folium Camelliae sinensis is carried out sorting classification, thus newly picked and processed tea leaves and old tea are separated, draw
Open the grade of Folium Camelliae sinensis, the kind of abundant tea product.But, existing Folium Camelliae sinensis sorting mechanism is the most artificial
Changing, sorting effect is poor, and cost of labor is higher, and only machine sort mechanism are also because of equipment
The most coarse, Folium Camelliae sinensis sorting is excessively simple, causes Folium Camelliae sinensis to sort and insufficient, and newly picked and processed tea leaves and old tea are still
Mix sale continually.
The present invention has built a kind of intelligent Folium Camelliae sinensis sorting system identified based on Lao Ye, in location skill
On the basis of art, Mechanical Driven technology, sensing technology and image recognition technology, construct a set of completely
The Folium Camelliae sinensis sort mode of automatization, thus save cost of labor, improve sorting efficiency, it is ensured that
Sorting effect.
Fig. 1 is
System block diagram, described sorting system includes: flush bonding processor 1, sorting tray 2, point
Picking equipment 3, Lao Ye storage bin 4 and Folium Camelliae sinensis identification mechanism 5, described flush bonding processor 1 is with described
Sorting tray 2, described sorting arrangement 3, described Lao Ye storage bin 4 and described Folium Camelliae sinensis identification mechanism 5
Connect respectively.
Wherein, described sorting tray 2 is a plane pallet, deposits Folium Camelliae sinensis to be sorted for distributing,
Described Folium Camelliae sinensis identification mechanism 5 is for shooting described Folium Camelliae sinensis to be sorted to obtain Folium Camelliae sinensis image, to described
Folium Camelliae sinensis image execution image procossing is to identify each Lao Ye in described Folium Camelliae sinensis to be sorted, described embedded
Processor 1 controls described sorting arrangement 3 based on described processing result image and sorts out described tea to be sorted
Each Lao Ye in leaf, and be placed in described Lao Ye storage bin 4, described Lao Ye storage bin 4 is in storage
Deposit Lao Ye completely time, send Folium Camelliae sinensis spill over to described flush bonding processor 1.
Then, the concrete knot of the intelligent Folium Camelliae sinensis sorting system identified based on Lao Ye to the present invention is continued
Structure is further detailed.
As in figure 2 it is shown, described sorting system also includes: infrared distance measurement equipment, it is arranged on described Folium Camelliae sinensis
On identification mechanism 5, and in the face of described sorting tray 2, it is used for identifying that tray center arrives described Folium Camelliae sinensis and knows
The relative distance of other mechanism, described infrared distance measurement equipment includes that infrared emitting device 7, infrared ray connect
Receiving device 8 and single-chip microcomputer 6, described infrared emitting device 7 is to described sorting tray 2 center
Launching infrared ray, described infrared receiver device 8 is received from the reflection of described sorting tray 2 center
The infrared ray returned, described single-chip microcomputer 6 and described infrared emitting device 7 and described infrared receiver
Device 8 connects respectively, launches infrared ray time, described infrared based on described infrared emitting device 7
Line receiver part 8 receiving infrared-ray time and infrared ray propagation rate, calculate described tray center to institute
State the relative distance of Folium Camelliae sinensis identification mechanism 5.
Described sorting system also includes: actuating device, is used for placing described sorting tray 2, and by institute
State sorting tray 2 and be sent to the underface of described Folium Camelliae sinensis identification mechanism 5.
Described sorting system also includes: storage device, is used for prestoring green channel threshold value and turquoise
Channel difference values threshold value, is additionally operable to prestore Folium Camelliae sinensis upper limit gray threshold and Folium Camelliae sinensis lower limit gray threshold,
Described Folium Camelliae sinensis upper limit gray threshold and described Folium Camelliae sinensis lower limit gray threshold for by the Folium Camelliae sinensis in image and
Background separation.
Described sorting system also includes: position sensor, is arranged on described sorting arrangement 3, is used for
The current location of described sorting arrangement 3 is provided in real time.
Described Folium Camelliae sinensis identification mechanism 5 includes image acquisition device and image processor, described image acquisition device
With Folium Camelliae sinensis image described in the resolution acquisition of 1280 × 1024, described image processor is adopted with described image
Storage and described storage device connect respectively, and described image acquisition device includes pretreatment unit, gray processing
Processing unit, Folium Camelliae sinensis cutting unit and Folium Camelliae sinensis recognition unit.
Described pretreatment unit is connected with described image acquisition device, uses the filtering figure of 4 pixel × 4 pixels
Case performs medium filtering to described Folium Camelliae sinensis image, and to export pretreatment image, described gray processing processes single
First and described pretreatment unit is connected, and described pretreatment image is performed gray processing and processes, to export ash
Degreeization image, described Folium Camelliae sinensis cutting unit and described gray processing processing unit, described storage device and institute
State image acquisition device to connect respectively, by gray value in described gray level image in described Folium Camelliae sinensis upper limit gray scale
Pixel identification between threshold value and described Folium Camelliae sinensis lower limit gray threshold also forms multiple Folium Camelliae sinensis sub pattern, base
In the plurality of Folium Camelliae sinensis subimage position in described Folium Camelliae sinensis image, described Folium Camelliae sinensis image is carried out phase
Answer the segmentation of location drawing picture, obtain corresponding multiple colored Folium Camelliae sinensis subimage.
Described Folium Camelliae sinensis recognition unit is connected respectively with described Folium Camelliae sinensis cutting unit and described storage device, connects
Receive the plurality of colored Folium Camelliae sinensis subimage and described Folium Camelliae sinensis image, to each colored Folium Camelliae sinensis subimage,
The average green channel value of green channel Data-Statistics colour Folium Camelliae sinensis subimages based on all pixels, based on
The green channel value of all pixels and the blue channel Data-Statistics colour Folium Camelliae sinensis subimage of all pixels
Average turquoise channel difference values, when described average green channel value less than or equal to described green channel threshold value and
When described average turquoise channel difference values is less than or equal to described turquoise channel difference values threshold value, it is determined that colored Folium Camelliae sinensis
Subimage is old foliage color image, is made in the old foliage color image region that occupies in described Folium Camelliae sinensis image
Export for Lao Ye position, when described average green channel value is more than described green channel threshold value or described flat
When the most turquoise channel difference values is more than described turquoise channel difference values threshold value, it is determined that colored Folium Camelliae sinensis subimage is new
Foliage color image.
Described flush bonding processor 1 and described infrared distance measurement equipment, described Folium Camelliae sinensis recognition unit, described
Position sensor and described sorting arrangement 3 connect respectively, receive the phase of described infrared distance measurement equipment output
Adjust the distance, described Folium Camelliae sinensis recognition unit output all Lao Ye positions and described position sensor output
Based on described relative distance and described all Lao Ye positions, current location, determines that all old blde pitches are from described
First absolute distance of Folium Camelliae sinensis identification mechanism, the first absolute distances based on described all Lao Ye are with default
Folium Camelliae sinensis identification mechanism sorting arrangement spacing determine second exhausted from described sorting arrangement of all old blde pitches
Adjust the distance, based on described current location and second absolute distance of described all Lao Ye, determine described point
Pick each shift value that equipment 3 needs to move at each Lao Ye, each shift value described is included in
Send in displacement drive signal and to described sorting arrangement 3, divide one by one controlling described sorting arrangement 3
Pick each Lao Ye in described Folium Camelliae sinensis to be sorted.
Wherein, described pretreatment unit, described gray processing processing unit, described Folium Camelliae sinensis cutting unit and
Described Folium Camelliae sinensis recognition unit is respectively adopted different fpga chips and realizes；Described sorting arrangement 3 is dividing
After having picked each Lao Ye in described Folium Camelliae sinensis to be sorted, send to described flush bonding processor 1 and sorted
Finishing signal, complete for described sorting signal is sent to described actuating device by described flush bonding processor 1,
For control described actuating device described sorting tray 2 is conducted away from described Folium Camelliae sinensis identification mechanism 5 just under
Side.
Wherein, in described sorting system, it is also possible to including: young leaves storage bin, in described biography
After described sorting tray 2 is conducted away from the underface of described Folium Camelliae sinensis identification mechanism 5 by dynamic device, receive institute
Residue Folium Camelliae sinensis after each Lao Ye having sorted in described Folium Camelliae sinensis to be sorted in stating sorting tray 2, described
Actuating device is chosen as an annular circulating conveyer belt, and selectively, replacement is respectively adopted different
The implementation of fpga chip, described pretreatment unit, described gray processing processing unit, described tea
Leaf cutting unit and described Folium Camelliae sinensis recognition unit are integrated on one piece of fpga chip, and described storage sets
For having prestored the Folium Camelliae sinensis identification mechanism sorting arrangement spacing preset, described Folium Camelliae sinensis cognitron
Structure sorting arrangement spacing be between described Folium Camelliae sinensis identification mechanism 5 and described sorting arrangement 3 fixing away from
From, and described position sensor is Two-Dimensional Moment configuration position sensor, by detecting self with described
The contact position of sorting arrangement 3 determines the current location of described sorting arrangement 3 in real time.
It addition, along with the reach of science, to 19 beginnings of the century, the composition of Folium Camelliae sinensis the most clearly rises
Come.Through separation and the qualification of modern science, Folium Camelliae sinensis reaches kind more than 450 containing organic chemical composition,
Inorganic mineral element reaches kind more than 40.Organic chemical composition mainly has: tea polyphenols, plant alkaloid, egg
White matter, aminoacid, vitamin, pectin element, organic acid, lipopolysaccharide, saccharide, enzyme, pigment etc..
And the organic chemical composition contained by TIEGUANYIN, such as tea polyphenols, catechin, several amino acids equal size,
Apparently higher than other teas.Inorganic mineral element mainly has: potassium, calcium, magnesium, cobalt, ferrum, aluminum, sodium,
Zinc, copper, nitrogen, phosphorus, fluorine, iodine, selenium etc..Inorganic mineral element contained by TIEGUANYIN, as manganese, ferrum,
Fluorine, potassium, sodium etc. are above other teas.
Folium Camelliae sinensis has following composition and a function: 1) catechin: be commonly called as tea tannin, be the peculiar composition of Folium Camelliae sinensis,
There is hardship, astringent taste and convergence.Millet paste can be combined with caffeine and relax Caffeine On Human body
Physiological action.Tool antioxidation, anti-halmatogenesis, antitumor, reduction Blood Cholesterol and low close
Degree ester gp content, suppression blood pressure rise, the suppression merit such as platelet aggregation, product allergy antibacterial, anti-
Effect.2) caffeine: with bitterness, be the important composition constituting millet paste flavour, in black tea infusion,
With how to be combined into complex without phenols；Emulsion is formed, distinctive catechin in tea after millet paste is cold
Class and oxidation condensation compound thereof can make the excitation of a good appetite suddenly appearing in a serious disease caffeine slow down and continue, therefore have tea and can make length
The people driven in way keeps clearheaded and relatively has legs.3) mineral: in tea containing abundant potassium,
11 kinds of mineral such as calcium, magnesium, manganese, millet paste Positive Ion Content is more and anion is less, belongs to alkali
Property food.Body fluid can be helped to maintain alkalescence, keep fit.4) vitamin: B group's vitamin and dimension are raw
Element C is water solublity, can be by middle acquisition of drinking tea.5) other function compositions: 1. flavonols, tool increases
Strong wall of micrangium eliminates halitosis effect；2. Saponin, has anticancer, anti-inflammatory effect, 3. amido butyric acid,
Folium Camelliae sinensis is forced to carry out anaerobic respiration and produce in tea making process, can be in case hypertension.
It addition, FPGA (Field-Programmable Gate Array), i.e. field-programmable gate array
Row, he is the product of development further on the basis of the programming devices such as PAL, GAL, CPLD.
He is to occur as a kind of semi-custom circuit in special IC (ASIC) field, both solves
Determine the deficiency of custom circuit, overcome again the shortcoming that original programming device gate circuit number is limited.With
The circuit design that hardware description language (Verilog or VHDL) is completed, can combine through simple
Close and layout, be quickly burned onto on FPGA and test, be the technology of modern IC designs checking
Main flow.These can edit element can be used to realize some basic logic gates (such as AND,
OR, XOR, NOT) or more more complicated combination function such as decoder or mathematical equation.
Inside most FPGA, in these editable elements, also comprise memory cell such as trigger
Or other more complete block of memory (Flip-flop).
Use the intelligent Folium Camelliae sinensis sorting system identified based on Lao Ye of the present invention, divide for existing Folium Camelliae sinensis
Pick system or the most artificial, inefficient, or mechanical sorting pattern precision is the highest, the skill of sorting weak effect
Art problem, for young leaves Lao Ye green channel after imaging and the numerical value difference of blue channel, has pin
To property use green channel threshold value and turquoise channel difference values threshold value to combine mode automatically identify and treat
Lao Ye in sorting Folium Camelliae sinensis, the transfer structure of mechanization simultaneously, location equipment and the use of sensing equipment
Improve the automatization level of Folium Camelliae sinensis sorting system.
Although it is understood that the present invention discloses as above with preferred embodiment, but above-mentioned enforcement
Example is not limited to the present invention.For any those of ordinary skill in the art, without departing from
Under technical solution of the present invention ambit, all may utilize the technology contents of the disclosure above to the technology of the present invention
Scheme makes many possible variations and modification, or is revised as the Equivalent embodiments of equivalent variations.Therefore,
Every content without departing from technical solution of the present invention, the technical spirit of the foundation present invention is to above example
Any simple modification, equivalent variations and the modification done, all still falls within technical solution of the present invention protection
In the range of.
Claims (1)
1. the intelligent Folium Camelliae sinensis sorting system identified based on Lao Ye, it is characterised in that described point
The system of picking includes sorting tray, sorting arrangement, Lao Ye storage bin, Folium Camelliae sinensis identification mechanism and embedded place
Reason device, described sorting tray is a plane pallet, deposits Folium Camelliae sinensis to be sorted, described tea for distributing
Leaf identification mechanism is for shooting described Folium Camelliae sinensis to be sorted to obtain Folium Camelliae sinensis image, to described Folium Camelliae sinensis image
Perform image procossing to identify each Lao Ye in described Folium Camelliae sinensis to be sorted, described flush bonding processor with
Described Folium Camelliae sinensis identification mechanism and described sorting arrangement connect respectively, control based on described processing result image
Described sorting arrangement sorts out each Lao Ye in described Folium Camelliae sinensis to be sorted, and is placed into described Lao Ye storage
Deposit in case；
Described sorting system also includes:
Infrared distance measurement equipment, is arranged on described Folium Camelliae sinensis identification mechanism, and in the face of described sorting tray,
For identifying that tray center arrives the relative distance of described Folium Camelliae sinensis identification mechanism, described infrared distance measurement equipment bag
Including infrared emitting device, infrared receiver device and single-chip microcomputer, described infrared emitting device is to institute
Stating sorting tray center and launch infrared ray, described infrared receiver device is received from described sorting torr
The infrared ray that disk center position reflects, described single-chip microcomputer and described infrared emitting device and described
Infrared receiver device connects respectively, launches infrared ray time, institute based on described infrared emitting device
State infrared receiver device receiving infrared-ray time and infrared ray propagation rate, calculate described tray center
Relative distance to described Folium Camelliae sinensis identification mechanism；
Actuating device, is used for placing described sorting tray, and described sorting tray is sent to described tea
The underface of leaf identification mechanism；
Storage device, is used for prestoring green channel threshold value and turquoise channel difference values threshold value, is additionally operable to
Prestore Folium Camelliae sinensis upper limit gray threshold and Folium Camelliae sinensis lower limit gray threshold, described Folium Camelliae sinensis upper limit gray threshold
With described Folium Camelliae sinensis lower limit gray threshold for by the Folium Camelliae sinensis in image and background separation；
Position sensor, is arranged on described sorting arrangement, provides described sorting arrangement in real time
Current location；
Described Folium Camelliae sinensis identification mechanism includes image acquisition device and image processor, described image acquisition device with
Folium Camelliae sinensis image described in the resolution acquisition of 1280 × 1024, described image processor and described image acquisition
Device and described storage device connect respectively, and described image acquisition device includes at pretreatment unit, gray processing
Reason unit, Folium Camelliae sinensis cutting unit and Folium Camelliae sinensis recognition unit, described pretreatment unit and described image acquisition
Device connects, and uses the filter pattern of 4 pixel × 4 pixels that described Folium Camelliae sinensis image is performed medium filtering, with
Output pretreatment image, described gray processing processing unit is connected with described pretreatment unit, to described pre-
Processing image and perform gray processing process, with output gray level image, described Folium Camelliae sinensis cutting unit is with described
Gray processing processing unit, described storage device and described image acquisition device connect respectively, by described gray scale
In change image, gray value is between described Folium Camelliae sinensis upper limit gray threshold and described Folium Camelliae sinensis lower limit gray threshold
Pixel identification and form multiple Folium Camelliae sinensis sub pattern, based on multiple Folium Camelliae sinensis subimages at described Folium Camelliae sinensis image
In position described Folium Camelliae sinensis image is carried out the segmentation of relevant position image, obtain corresponding multiple colours
Folium Camelliae sinensis subimage, described Folium Camelliae sinensis recognition unit and described Folium Camelliae sinensis cutting unit and described storage device difference
Connect, receive the plurality of colored Folium Camelliae sinensis subimage and described Folium Camelliae sinensis image, to each colored Folium Camelliae sinensis
Subimage, the average green channel of green channel Data-Statistics colour Folium Camelliae sinensis subimages based on all pixels
Value, blue channel Data-Statistics colour Folium Camelliae sinensis of green channel values based on all pixels and all pixels
The average turquoise channel difference values of image, when described average green channel value is less than or equal to described green channel
When threshold value and described average turquoise channel difference values are less than or equal to described turquoise channel difference values threshold value, it is determined that color
Color Folium Camelliae sinensis subimage is old foliage color image, by old foliage color image occupying in described Folium Camelliae sinensis image
Region exports as Lao Ye position, when described average green channel value more than described green channel threshold value or
When described average turquoise channel difference values is more than described turquoise channel difference values threshold value, it is determined that colored Folium Camelliae sinensis subgraph
Picture is young leaves coloured image；
Described flush bonding processor and described infrared distance measurement equipment, described Folium Camelliae sinensis recognition unit, institute's rheme
Put sensor and described sorting arrangement connect respectively, receive described infrared distance measurement equipment output relative away from
Current from all Lao Ye positions of, described Folium Camelliae sinensis recognition unit output and the output of described position sensor
Based on described relative distance and described all Lao Ye positions, position, determines that all old blde pitches are from described Folium Camelliae sinensis
First absolute distance of identification mechanism, the first absolute distances based on all Lao Ye and the Folium Camelliae sinensis preset are known
Other mechanism sorting arrangement spacing determines all old blde pitches the second absolute distance from described sorting arrangement, base
In described current location and second absolute distance of all Lao Ye, determine that described sorting arrangement needs mobile
Each shift value at each Lao Ye, is included in each shift value described in displacement drive signal also
Send to described sorting arrangement, sort one by one in described Folium Camelliae sinensis to be sorted controlling described sorting arrangement
Each Lao Ye；
Wherein, described pretreatment unit, described gray processing processing unit, described Folium Camelliae sinensis cutting unit and
Described Folium Camelliae sinensis recognition unit is respectively adopted different fpga chips and realizes；
Wherein, after the described sorting arrangement each Lao Ye in having sorted described Folium Camelliae sinensis to be sorted, to institute
Stating flush bonding processor and send the complete signal of sorting, described flush bonding processor is by complete for described sorting letter
Number it is sent to described actuating device, is used for controlling described actuating device and described sorting tray is conducted away from described
The underface of Folium Camelliae sinensis identification mechanism；
Young leaves storage bin, for being conducted away from described Folium Camelliae sinensis identification at described actuating device by described sorting tray
After the underface of mechanism, in receiving described sorting tray, sort each in described Folium Camelliae sinensis to be sorted
Residue Folium Camelliae sinensis after Lao Ye；
Described actuating device is an annular circulating conveyer belt.
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| GB340977A (en) * | 1929-05-10 | 1931-01-01 | Thomas Ernest Abbott | Improvements in or relating to a manner of and machinery for the extraction of stalk from tea |
| JP2002035701A (en) * | 2000-07-25 | 2002-02-05 | Terada Seisakusho Co Ltd | Method and apparatus for tea production |
| JP2005279425A (en) * | 2004-03-29 | 2005-10-13 | Kawasaki Kiko Co Ltd | Color screening machine for tea leaf |
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