CN104624514B - A kind of novel selected grading production line of carrot machine vision - Google Patents

A kind of novel selected grading production line of carrot machine vision Download PDF

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Publication number
CN104624514B
CN104624514B CN201510092649.5A CN201510092649A CN104624514B CN 104624514 B CN104624514 B CN 104624514B CN 201510092649 A CN201510092649 A CN 201510092649A CN 104624514 B CN104624514 B CN 104624514B
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carrot
conveyer
classification
production line
machine
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CN104624514A (en
Inventor
韩仲志
耿琪超
邓立苗
扈志强
高超
宫龙杰
刘德
冯永莲
魏蕾
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QINGDAO YOUTIAN AGRICULTURAL DEVELOPMENT CO LTD
Qingdao Large Space Between Muscles Agricultural Information Co Ltd
Qingdao Agricultural University
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QINGDAO YOUTIAN AGRICULTURAL DEVELOPMENT CO LTD
Qingdao Large Space Between Muscles Agricultural Information Co Ltd
Qingdao Agricultural University
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Abstract

The invention discloses a kind of novel selected grading production lines of carrot machine vision, the entire production line includes computer vision part, automatically controls part and mechanical machine parts, wherein mechanical device is mainly made of even fruit machine, conveyer, lamp box and classification four parts of mouth, and conveyer therein is divided into three sections.After carrot cleaning by feeder on even fruit machine, even fruit machine unidirectionally paves carrot uniformly, and carrot sequence is placed on first segment low speed conveyer by descending lifeline, accelerated by the second section conveyer, carrot is quickly through lamp box channel, pass through mirror image, the image that line-scan digital camera obtains three sides is transmitted to computer, computer provides corresponding class information by image procossing, and then control third section conveyer end pneumatic solenoid valve, carrot is blown in different grades of classification mouth, realize the selected classification of carrot full-automation.

Description

A kind of novel selected grading production line of carrot machine vision
Technical field
The invention discloses a kind of carrot intelligent grading device based on machine vision technique, specifically, being related to one Kind carries out the grading plant of automatic classification by obtaining carrot external appearance characteristic to carrot.
Background technique
Farm products area sale helps to improve the market competitiveness of agricultural product and increases economic benefit, and current China Some agricultural product manufacturing and processing enterprises and foreign trade company, artificial progress is relied primarily on to farm products area.However, with Expanding economy, the raising of labor cost, in addition to this, the factors such as manual grading skill low efficiency, all directly or indirectly improve The production cost of enterprise, profit cannot greatly improve, and are not suitable for large-scale production and promote.
Farm products area is the core link of agricultural product commercialized treatment after adopting, at present both at home and abroad also occur it is some for Ball-type fruit, such as apple, citrus carry out the report of detection classification using computer vision methods, such as Zhejiang University answers justice is refined to open The automation grading production line suitable for apple has been sent out, has obtained national science and technology invention second prize, however these equipment are not appropriate for The automations of the strips fruits and vegetables such as carrot is classified, and at present mainly manually to the classification of carrot, is also had only in accordance with carrot Rugosity, the machinery that carrot is substantially classified with the roller bearing of different gap, but be difficult to accomplish to automate, and corresponding row Industry and trade standard (NYT 1983-2011 carrot grade specification or SBT 10450-2007 carrot purchase and sale class requirement) Defined carrot grade classification be based on length, in addition also many index of quality of concrete regulation, as blue or green head, length, Cracking, fibrous root and bending etc., due to the not energetic realization of these features, can not be completed at the same time the Accurate Classification of multiple indexs.
In view of at this stage to carrot current situation of classification, it is desirable to provide a kind of novel carrot grading plant, it can be to recklessly While radish is classified according to length, additionally it is possible to be classified according to exterior quality feature.
Summary of the invention
The purpose of the present invention primarily directed to the deficiency of the above problem, provide it is a kind of easy to operate, multiple features quantization, point The efficient carrot grading plant of grade.
Above-mentioned purpose is achieved through the following technical solutions, and is included the following steps:
A kind of novel selected grading production line of carrot machine vision, the entire production line include computer vision part, from Dynamic control section and mechanical machine parts, wherein mechanical device is mainly by even fruit machine, conveyer, lamp box and classification four parts of mouth Composition, conveyer therein are divided into three sections.
Wherein
The core of even fruit machine is the chain conveyor being made of 100 or so carrying rollers, is equipped with two below carrying roller The rubber frame of Y-shaped shape is gripped on the rack by two angle bar, and effect is to guarantee carrying roller in advancement The contact for remaining and derailing, thus guarantee carrying roller always can rotation during advance, be equipped with four above carrying roller Belt flexible baffle, carrying roller transmission belt revolve while under the motor of included speed reducer drives on one side rotation, drive carrot It travels forward, flexible baffle, which can uniformly spread out into the carrot of overlapping, puts down, and Brush type descending lifeline is fallen under then carrot is automatic On, carrying roller is every to advance one, and descending lifeline is opened once, and carrot is slipped on first segment conveyer after buffering.
Conveyer is made of three sections, and the core of every section conveyer is to be mutually perpendicular to two conveyer belt groups of composition V-groove shape At two conveyer belts are travelled forward under the drive of the motor of two same models with same speed, and first segment is defeated Machine low speed under frequency converter adjustment is sent to run, optional speed is 2-3m/s, and the speed of the second section and third section conveyer is in 4m/ S ensures that carrot when by lamp box with certain interval in this way.First segment conveyer belt is mounted under descending lifeline Side is a kind of two layers of multiple band, is sandwiched between the hairbrush of certain length, and width is shorter from the bottom up, two conveyer belt compositions After " V " font, two groups of transmission belts can have certain clamping action to the carrot of movement, avoid sliding from even fruit machine end In addition skidding when the carrot to get off horizontal movement suddenly at 10cm, is fixed with " V " shape shape hairbrush above the first segment conveyer Frame avoids carrot and reversely bounces.The function of first segment conveyer is that carrot is smoothly sequentially transmitted to the second section biography It send and takes, the second section conveyer is projected carrot with the speed for approximately doubling first segment conveyer, and carrot passes through lamp box It is fallen in after circular channel on third section conveyer belt, acquires photo in the moment for vacantly passing through lamp box.
Lamp box is a closed cabinet, and centre is provided with circular channel, and there are two the LED light strip of annular, cabinets for inside installation Top is equipped with line-scan digital camera, and the two panels mirror placed in 120 ° of angles, the installation of circular channel inlet are equipped with below light bar There is a photoelectric sensor, carrot flies out and passes through circular channel after the second section conveyer belt, and line-scan digital camera is under photoelectric sensor induction The image of two pictures of the secondary carrot material picture of shooting one and two sides mirror, three width images just correspond to three sides of carrot Face.
The classification mouth device and air-compressor set of array, 6 mouths that classification mouth is made of 5 high speed electromagnetic trigger valves at, when Carrot triggers photoelectric sensor when moving to the end of third section conveyer, and control unit synchronous acquisition upper computer software is given One of them in decision signal (1-5) out, then corresponding solenoid valve is opened in control, and carrot is blown to 1-5 not In same grade mouth, corresponding unqualified defect ware does not do any movement, automatically into the 6th mouth, to realize exterior quality With the selected classification of grade.
Computer vision system acquires the image of three sides of carrot by line-scan digital camera first, wherein intermediate is real Object image, the image of picture, then carries out image segmentation in the mirror surface on both sides, carries out first to length to intermediate material picture anti- It drills to calculate carrot length and then calculate separately and judges whether that bending, fracture, whether there is or not blue or green head, fibrous root, cracking or scars, to two The image of the carrot picture of side, which only calculates, judges whether there is cracking or scar.If length is unqualified or has any inferior general It is attributed to unqualified class.It will be according to corresponding industry and trade standard (NYT 1983-2011 carrot etc. for qualified Grade specification or SBT 10450-2007 carrot purchase and sale class requirement) it is attributed to the 3-5 grade such as S, M, L.
Control system includes two parts, first is that take pictures control to camera external trigger, when being mounted on lamp box circular channel entrance When the solenoid valve at place senses that carrot passes through, pulls out 3V voltage and take pictures to line-scan digital camera triggering pin control;Second is that high speed Solenoid valve pneumatic control, when the solenoid valve for being mounted on third section band senses that carrot is arrived, while it is synchronous to detect host computer The level signal provided, the air-operated solenoid valve for controlling corresponding classification mouth are opened, and blow out corresponding high pressure gas by air compressor machine, will Carrot is blown in corresponding classification mouth, blows and penetrates the length photoelectric sensor of time and incude to obtain, can also be long by carrot Degree is calculated divided by movement velocity, and each classification mouth inlet also hangs with two door curtains made of cloth, and carrot is blown on the door curtain made of cloth first, Damage is avoided, connection feed opening conveyer belt in classification mouth exit exports carrot.
Effect of the invention is: according to 10 hours one day workloads, handles 8 fruits and calculates each second, day processing processing About 100 tons of carrots, while effectively preventing the subjectivity of manual grading skill.This device convenient for adjust calibration, it is easy to operate and Without any environmental pollution.Above-mentioned technical proposal through the invention, the carrot classification equipment configuration is rationally simple, production Manufacture is easy and at low cost, easy to operate, and can efficiently realize the intelligence classification of carrot, overcomes the master of artificial screening The defect for seeing judgement, can save labor cost, also have good popularization while improving equipment Market competitiveness Application value.
Detailed description of the invention
Fig. 1 is a kind of structural schematic diagram of carrot intelligent grading device of the present invention.
Fig. 2 is that even fruit machine of the invention and first segment convey side view.
Fig. 3 is imaging optical path figure in lamp box of the present invention
Fig. 4 is air-operated solenoid valve of the present invention and classification mouth arrangement mode
Fig. 5 is upper computer software interface of the invention
Wherein: 1 even fruit machine, 2 conveyers, 3 lamp boxes, 4 classification mouths.101 carrying rollers, 102 flexible baffles, 103 " Y shape rubber Support frame, 104 angle bar, 105 rubber skins, 106 descending lifelines.The multiple band of 201 brush holders, 202 Brush types, 203 " V " type conveyer belt supports Roller, 301 line-scan digital cameras, 302 two LED light rings, 303 carrots, 304 two sides mirrors, the picture of 305 carrots, 401 air-powered electromagnetics Valve, 402 solenoid valve brackets, 403 classification mouth numbers
Specific embodiment
The specific embodiment that the present apparatus is intelligently classified carrot is described below in conjunction with attached drawing.
Embodiment 1, please refers to Fig. 1, and entire machine is divided into four parts, including even fruit machine 1, conveyer 2, lamp box 3, classification Mouth 4, wherein even fruit machine 1 is mounted on the side of 2 first segment band of conveyer, after the second section conveyer is mounted on first segment conveyer And then lamp box is installed in face, then install third section conveyer, the lower section installation classification mouth of third section transmission office.
See Fig. 2, when carrying out carrot classification, carrot is poured into even fruit machine by feeder by the carrot after cleaning On 1, carrot moves forward in the case where the conveyer belt that carrying roller 101 forms drives, will by four 102 devices of belt flexible baffle Carrot paves uniformly, and carrot is connected in order between two carrying rollers, falls on Brush type descending lifeline 106, then descending lifeline 106 open.
The rubber frame 103 of two Y-shaped shapes is installed below carrying roller, is clamped to rack by two angle bar 104 On, effect is the contact for guaranteeing carrying roller 101 and remaining and derailing in advancement, to guarantee that carrying roller begins 101 eventually It being capable of rotation during advance.Four belt flexible baffles 102 are installed, carrying roller transmission belt subtracts included above carrying roller 101 The motor of fast machine revolves while rotation under driving, and drives carrot to travel forward, flexible baffle can be by the Hu Luo of overlapping Foretell uniformly booth to fall under then carrot is automatic on Brush type descending lifeline at putting down, carrying roller is every to advance one, and descending lifeline 106 is opened Once, carrot is slipped on first segment conveyer after buffering.
Carrot falls on conveyer 2, and carrot passes through after first dropping on the brush holder 201 of V-type, the brush holder of V-type 201 effect is that carrot is avoided to rebound, and carrot 204 falls on first segment " V " type groove conveyer belt 203, first segment transmission Answer band 202 with Brush type above to block carrot 204, avoid the skidding of carrot, drive carrot horizontal direction with The speed of 2m/s travels forward, and carrot is transported on the second section conveyer belt, and the second section band is common flat rubber belting, the second section Conveyer belt is conveyed carrot with the speed of 4m/s.
See Fig. 3, the circular channel entrance that carrot passes through 3 center of lamp box triggers photoelectric sensor, when carrot 303 just When the twice LED light ring center moved to, line-scan digital camera 301 shoots three width images, including a secondary original image and two width simultaneously 305 image of carrot picture in mirror surface 304, and three width image transmittings are handled to host computer, carrot subsequently into Third section transmission belt, or moved with the speed of 4m/s.
See Fig. 4, triggering is mounted on the photoelectric sensor of third section end of tape, control unit when carrot moves to end The decision signal that host computer provides is collected simultaneously, and carrot is blown to different classification mouths by control pneumatic solenoid valve 401 In 403.
According to Fig.5, computer vision system software interface, upper computer software is according to detection algorithm by radish according to length Degree classification, and calculate and judge whether bending, fracture, whether there is or not blue or green head, fibrous root, cracking or scar, according to length and substandard products by Hu trailing plants Fore-telling is divided into the 3-5 grade such as S, M, L and substandard products etc..
Specific technical features described in the above specific embodiments can carry out any in any manner Combination, equally fall into it is disclosed in this invention within the scope of.Such as: V-type transmission device main function is by carrot sequence Transmission, oblique roller type or multiple twin dragon shape transmission device can also be replaced with.
Meanwhile various embodiments of the present invention can be combined randomly, as long as it is without prejudice to originally The thought of invention equally should be regarded as content disclosed in this invention.In addition, during present invention is not limited to the embodiments described above Detail within the scope of the technical concept of the present invention can be with various simple variants of the technical solution of the present invention are made, these Simple variant all belongs to the scope of protection of the present invention, and protection scope of the present invention is defined by the claims.

Claims (8)

1. a kind of novel selected grading production line of carrot machine vision, the entire production line includes computer vision part, automatic Control section and mechanical machine parts, wherein mechanical device is mainly by even fruit machine, conveyer, lamp box and classification four part groups of mouth At conveyer therein is divided into three sections, it is characterised in that: the core of the even fruit machine is one and is made of 100 carrying rollers Chain conveyor, carrying roller lower section are equipped with the rubber frame of two Y-shaped shapes, are gripped on the rack by two angle bar, It is the contact for guaranteeing carrying roller and being remained in advancement with carrying roller that it, which is acted on, to guarantee that carrying roller can advance always Rotation in the process, carrying roller top are equipped with four belt flexible baffles, and carrying roller transmission belt drives in the motor of included speed reducer It is lower to revolve while rotation, drive carrot to travel forward, flexible baffle, which can uniformly spread out into the carrot of overlapping, puts down, then It is fallen under carrot is automatic on Brush type descending lifeline, carrying roller is every to advance one, and descending lifeline is opened once, and carrot is sliding after buffering It falls on first segment conveyer.
2. a kind of novel selected grading production line of carrot machine vision according to claim 1, it is characterised in that: described Conveyer be made of three sections, the core of every section conveyer be mutually perpendicular to composition V-groove shape two conveyer belts composition, two Conveyer belt is travelled forward under the drive of the motor of two same models with identical speed, and first segment conveyer is in frequency converter Lower low speed operation is adjusted, speed is 2-3m/s, and the speed of the second section and third section conveyer ensures that Hu Luo in 4m/s in this way Foretell when by lamp box with certain interval.
3. a kind of novel selected grading production line of carrot machine vision according to claim 2, it is characterised in that: first Section conveyer is mounted on the lower section of Brush type descending lifeline, is a kind of two layers of multiple band, is sandwiched between the hairbrush of certain length, wide Degree is shorter from the bottom up, after described two layers multiple band composition " V " font, can have certain clamping action to the carrot of movement, Skidding when avoiding the carrot horizontal movement suddenly for sliding to get off from even fruit machine end, in addition above first segment conveyer At 10cm, it is fixed with " V " shape shape brush holder, carrot is avoided and reversely bounces.
4. a kind of novel selected grading production line of carrot machine vision according to claim 2, it is characterised in that: first The function of saving conveyer is smoothly sequentially transmitted to carrot on the second section conveyer, and the second section conveyer is with twice the The speed of one section conveyer projects carrot, and carrot falls on third section conveyer after passing through the circular channel of lamp box, Vacantly pass through the moment acquisition photo of lamp box.
5. a kind of novel selected grading production line of carrot machine vision according to claim 1, it is characterised in that: described Lamp box be a closed cabinet, centre is provided with circular channel, and inside installation is there are two the LED light strip of annular, on circular lamp band Equipped with wing formula radiating aluminium sheet, line-scan digital camera is installed above cabinet, the two panels mirror placed in 120 ° of angles is installed below light bar Son, circular channel inlet are equipped with photoelectric sensor, and carrot flies out and passes through circular channel, linear array phase after the second section conveyer Machine shoots the image of two pictures of a width carrot material picture and two sides mirror under photoelectric sensor induction, and three width images are just Three sides of carrot are corresponded to well.
6. a kind of novel selected grading production line of carrot machine vision according to claim 1, it is characterised in that: described Classification mouth be made of 5 high speed electromagnetic trigger valves array, 6 mouths classification mouth device and air-compressor set at working as carrot Photoelectric sensor is triggered when moving to the end of third section conveyer, what control unit synchronous acquisition upper computer software provided determines One of them in plan signal 1-5, then corresponding solenoid valve is opened in control, and carrot is blown to 1-5 different classifications In mouthful, unqualified defect ware is not done any dynamic accordingly, automatically into the 6th mouth, to realize the essence of exterior quality and grade Choosing classification.
7. a kind of novel selected grading production line of carrot machine vision according to claim 1, it is characterised in that: described Computer vision part, the image of three sides of radish is acquired by line-scan digital camera first, is material picture wherein intermediate, two The image of picture in the mirror surface on side, then carries out image segmentation, carries out Inversion Calculation recklessly to length first to intermediate material picture Radish length, then calculate separately judge whether bending, fracture, whether there is or not blue or green head, fibrous root, cracking or scars, to the mirror surface on both sides In the image of picture only calculate and judge whether there is cracking or scar, if length is unqualified or has any inferior be attributed to Unqualified class, for it is qualified will according to corresponding industry and trade standard NYT1983-2011 carrot grade specification or SBT10450-2007 carrot purchase and sale class requirement is attributed to the 3-5 grade such as S, M, L.
8. a kind of novel selected grading production line of carrot machine vision according to claim 1, it is characterised in that: described Automatically controlling part includes two parts, first is that take pictures control to camera external trigger, when being mounted on lamp box circular channel inlet When solenoid valve senses that carrot passes through, control line-scan digital camera triggering is taken pictures;Second is that working as installation to high-speed electromagnetic valve pneumatic control It when the solenoid valve of third section conveyer should arrive carrot and arrive, while detecting host computer and synchronizing the level signal provided, control The air-operated solenoid valve of corresponding classification mouth is opened, and is blown out corresponding high pressure gas by air compressor machine, is blown the length for penetrating the time by photoelectricity Sensor sensing obtains, or is calculated by carrot length divided by movement velocity, and carrot is blown to corresponding classification In mouthful, each classification mouth inlet also hangs with two door curtains made of cloth, and carrot is blown on the door curtain made of cloth first, avoids damage, is classified mouth Exit connection blanking conveyer belt exports carrot.
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CN106426642A (en) * 2016-08-29 2017-02-22 上海交通大学 Near-infrared sorting device for waste household appliance dismantled and broken plastic
CN106622988A (en) * 2016-12-31 2017-05-10 青岛农业大学 High-performance carrot computer vision track defective product removing and length and thickness grading device
CN107348420B (en) * 2017-08-30 2020-08-28 天津颐和中威精密机器有限公司 Orange slice fishing and queuing device
CN109794438B (en) * 2019-03-31 2021-03-16 南京林业大学 Automatic blueberry grading method and device

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