CN104941922A - Potato grading control method and device based on machine vision technology - Google Patents
Potato grading control method and device based on machine vision technology Download PDFInfo
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Abstract
The invention discloses a potato grading control method and device based on machine vision technology. The method is characterized in that during image detection, a camera field-of-view is divided into virtual passages with the number corresponding to that of guiding lifting levers according to the number of the guiding lifting levers; a logic value is used for indicating whether to-be-graded potatoes exist on each virtual passage or not; a control and processing unit controls the guiding lifting levers to act according to the detected logic value, and when the logic value is equal to 1, a guiding mechanism corresponding to the guiding lifting levers is upward pushed out by an air cylinder, and potatoes are in contact with the guiding lifting levers, so that the running track of the potatoes is changed, and the potatoes are separated to be thrown into corresponding discharging chutes; and after a camera is used for acquiring images of the potatoes, a virtual circle is drawn by taking the transverse diameters of the potatoes as the diameter according to the image detection result, and whether one or more guide lifting levers are adopted for separating the potatoes is determined according to the areas, occupied by the virtual circle, of the virtual passages. The fast detection of potatoes with various and different quality can be realized, damage to the potatoes can be reduced, and the sorting of the potatoes can be precisely realized.
Description
Technical field
The present invention relates to a kind of potato hierarchical control method and device, especially relate to a kind of potato hierarchical control method based on machine vision technique and device.
Background technology
Potato is rich in carbohydrate, and the multiple nutritional components such as protein, mineral matter (phosphorus, calcium etc.), vitamin, has the title of " underground apple ".
At present, occupy first place in the world in the output of China potato and the equal position of harvest area, but Potato ring rot bacteria conversion ratio is only about 15%, and its development level obviously lags behind developed country.Though China is potato big producing country, it not Potato Industry power; Potato deep processing requires higher to potato quality, and the potato how obtaining High quality becomes the key factor restricting China's Potato Industry and further develop.
Traditional potato method for separating comprises artificial separation and mechanical sorting, and artificial separation takes time and effort, accuracy rate is low, though and traditional mechanical sorting efficiency of separation promotes to some extent, its graded index is single, easily causes potato to damage.Nowadays, along with the development of science and technology, the sorting utilizing advanced detection technique to carry out agricultural product has become following development trend.
Notification number be CN202539096U patent discloses a kind of fruits and vegetables sorting rejecting mechanism, be especially applicable to the sorting rejecting mechanism of large-scale fruits and vegetables, by rejectings such as the soil block, stone and the glass that are mixed among fruits and vegetables, also jejune fruit can be rejected.This patent adopts the mode of head-on impact fruits and vegetables, and the fruits and vegetables after sorting directly drop in material bin, easily cause damage to fruits and vegetables; Adopt single rejecting mode, can not very effectively remove all kinds of impurity.
Summary of the invention
In order to overcome Problems existing in background technology, the object of the present invention is to provide a kind of potato hierarchical control method based on machine vision technique and device, utilizing machine vision technique to realize the quick detection of impurity, different quality potato; According to testing result, utilize the impurity in air ejector rejecting potato, control guiding mechanism and reject potato to be fractionated with suitable number, and qualified potato directly enters bottom discharge skewed slot, and then complete the sorting of potato.
The technical solution used in the present invention is as follows:
One, a kind of potato hierarchical control method based on machine vision technique:
The visual field width of video camera is consistent with guiding mechanism width; When image detects, according to the number of guiding driving lever camera field of view is divided into the tunnel of same number, the corresponding tunnel of each guiding driving lever; Represent whether each tunnel exists potato to be fractionated by logical value, 0 represents in this tunnel there is not potato to be fractionated, and 1 represents that this virtual channel memory is potato to be fractionated; Controlled processing unit controls the whether action of guiding driving lever according to detecting the logical value that obtains, only have when logical value is 1, guiding mechanism corresponding to it is just upwards released by cylinder, and potato contacts with guiding driving lever and changes running orbit, is separated in corresponding discharging skewed slot; Due to the arrangement in disordered state on high-speed conveyer belt of potato material, and the size of potato is also different, and occupied tunnel number may be one or more; According to image testing result, with potato detection transverse diameter for diameter draws an imaginary circles, the tunnel occupied by imaginary circles is determined to adopt one or more guiding driving lever to be separated potato, thus realizes effective sorting of different brackets potato exactly.
Two, a kind of potato grading plant based on machine vision technique:
The present invention includes low speed conveyer belt, accelerate chute, brush roll, video camera, controlled processing unit, high-speed conveyer belt, discharging skewed slot, frame and sorting actuating mechanism; Accelerate the bottom that chute upper end is positioned at low speed conveyer belt output, accelerate the top that chute lower end is positioned at high-speed conveyer belt input, low speed conveyer belt, acceleration chute and high-speed conveyer belt are fixed in frame all successively from left to right, between the both sides of high-speed conveyer belt frame, be provided with brush roll, brush roll is positioned at above high-speed conveyer belt; Sorting actuating mechanism comprises air ejector and guiding mechanism, sorting actuating mechanism is between high-speed conveyer belt and discharging skewed slot, air ejector is arranged between high-speed conveyer belt and guiding mechanism by frame, air ejector is positioned at the top of high-speed conveyer belt outlet, and guiding mechanism is positioned at the below of high-speed conveyer belt outlet; Frame between brush roll and air ejector is provided with lighting box, lighting box is built with video camera, camera field of view width is consistent with guiding mechanism width and high-speed conveyer belt width, and video camera, air ejector are connected with controlled processing unit with guiding mechanism; Described controlled processing unit comprises computer and cyclelog.
Described guiding mechanism, comprise the guiding driving lever of many concave curved surfaces, with type of the wagging the tail cylinder of guiding driving lever identical number and gripper shoe; One end of every root guiding driving lever is inserted in the second pin-and-hole of respective 3rd U-shaped connector, and by respective 3rd pin-hinges, the other end of many 3rd U-shaped connectors is connected with frame by each self-steering driving lever trip bolt; Many guiding driving lever mid portions insert in respective first pin-and-hole of respective second U-shaped connector, and by respective second pin-hinges, the other end of the second U-shaped connector is connected with the piston rod upper end of type cylinder of wagging the tail separately; The lower end of each type cylinder of wagging the tail is inserted in respective first U-shaped connector, and by respective first pin-hinges, the other end of the first U-shaped connector is fixing on the supporting plate by respective cylinder trip bolt, and gripper shoe is connected with frame by gripper shoe trip bolt; Many described concave curved surface guiding driving levers, its radius of curvature is greater than the radius of curvature of potato.
Described discharging skewed slot, comprise top discharge skewed slot and bottom discharge skewed slot, when potato to be fractionated being detected, guiding driving lever is upwards released by type of wagging the tail cylinder, potato to be fractionated collides with guiding driving lever, and and form collision angle between guiding driving lever, potato is slided and the top discharge skewed slot that flies out on guiding driving lever curved surface; When detecting qualified potato, guiding driving lever is not upwards released, and qualified potato directly enters bottom discharge skewed slot; Top discharge skewed slot is connected with respective belt conveyor system respectively with bottom discharge skewed slot.
The beneficial effect that the present invention has is:
The present invention can realize the quick grouping system of impurity, different quality potato, utilizes air ejector to reject impurity, and the collision angle controlled between potato and guiding driving lever reduces impact force, reduces the mechanical damage of potato; Adopt one or more guiding mechanism to reject potato according to the detection transverse diameter of potato, realize effective sorting of potato to be fractionated exactly; The present invention can be used for the sorting of potato, tomato, the larger fruits and vegetables of onion equal-volume.
Accompanying drawing explanation
Fig. 1 is the schematic diagram of operation principle of the present invention.
Fig. 2 is normal axomometric drawing of the present invention.
Fig. 3 is the normal axomometric drawing of guiding mechanism.
Fig. 4 is the normal axomometric drawing of guiding driving lever.
Fig. 5 is the schematic diagram of impurity movement locus and qualified potato movement locus.
Fig. 6 is the schematic diagram of impurity movement locus and potato movement locus to be fractionated.
Fig. 7 is the schematic diagram of camera field of view.
Fig. 8 is logical value table.
Fig. 9 is the top view of guiding mechanism.
Figure 10 is the normal axomometric drawing of guiding driving lever classification work.
In figure: 1, low speed conveyer belt; 2, chute is accelerated; 3, brush roll; 4, video camera; 5, qualified potato; 6, potato to be fractionated; 7, air ejector; 8, controlled processing unit; 9, top discharge skewed slot; 10, bottom discharge skewed slot; 11, lead driving lever; 12, guiding mechanism housing; 13, impurity; 14, high-speed conveyer belt; 15, guiding mechanism; 16, discharging skewed slot; 17, frame; 18, type of wagging the tail cylinder; 19, gripper shoe; 20, cylinder trip bolt; 21, gripper shoe trip bolt; 22a, the first pin; 22b, the second pin; 22c, the 3rd pin; 23a, the first U-shaped connector; 23b, the second U-shaped connector; 23c, the 3rd U-shaped connector; 24, lead driving lever trip bolt; 25a, the first pin-and-hole; 25b, the second pin-and-hole; 26, potato proper motion track; 27, collision angle; 28, sorting actuating mechanism; 29, impurity movement locus; 30, potato movement locus to be fractionated; 31, imaginary circles; 32, tunnel; 33, camera field of view; 34, logical value.
Detailed description of the invention
Below in conjunction with the drawings and specific embodiments, the present invention is further illustrated.
As shown in Figure 1 and Figure 2, the present invention includes low speed conveyer belt 1, accelerate chute 2, brush roll 3, video camera 4(model be DFK 23GM021), controlled processing unit 8, high-speed conveyer belt 14, discharging skewed slot 16, frame 17 and sorting actuating mechanism 28; Accelerate the bottom that chute 2 upper end is positioned at low speed conveyer belt 1 output, accelerate the top that chute 2 lower end is positioned at high-speed conveyer belt 14 input, accelerate the pace that chute 2 is used for accelerating potato material, increase the distance between potato material before and after on transfer passage; Low speed conveyer belt 1, acceleration chute 2 and high-speed conveyer belt 14 are fixed in frame 17 all successively from left to right, and frame 17 installs brush roll 3 between both sides, and brush roll 3 is positioned at above high-speed conveyer belt 14; Sorting actuating mechanism 28 comprises air ejector 7 and guiding mechanism 15, sorting actuating mechanism 28 is between high-speed conveyer belt 14 and discharging skewed slot 16, air ejector 7 is arranged between high-speed conveyer belt 14 and guiding mechanism 15 by frame 17, air ejector 7 is positioned at the top of high-speed conveyer belt 14, guiding mechanism 15 is positioned at the below of high-speed conveyer belt 14, and guiding mechanism 15 is arranged in guiding mechanism housing 12; Frame 17 between brush roll 3 and air ejector 7 is provided with lighting box (not shown), lighting box (not shown) is built with video camera 4, video camera 4, air ejector 7, guiding mechanism 15 are connected with controlled processing unit 8, wherein video camera 4 is connected by kilomega network with computer (model is DELL OPTIPLEX 3010), computer (not shown) is connected by USB with cyclelog (model is TPC16-16TDB), and cyclelog (not shown) is wagged the tail by solenoid control the motion of type cylinder 18; Discharging skewed slot 16, comprise top discharge skewed slot 9 and bottom discharge skewed slot 10, discharging skewed slot 16 is arranged in frame 17.
Brush roll 3 maintains a certain distance with the input of high-speed conveyer belt 14, and the spacing between brush roll 3 and high-speed conveyer belt 14 can adjust according to the size of potato material; Make same channels keeps suitable distance between potato material by brush roll 3 one aspect, ensure that the potato material individual layer on high-speed conveyer belt 14 from accelerating to slide chute 2 is steadily carried, and is convenient to the collection that video camera 4 carries out potato image on the other hand; The belt speed of high-speed conveyer belt 14 is not less than 1.5m/s, to ensure that potato material to be dished out distance enough far away from output, is convenient to carry out sorting, also can improves separation velocity simultaneously.
As shown in Figure 1, time in potato mass transport to the visual field of video camera 4, image is gathered by controlled processing unit 8 toggling camera 4, controlled processing unit 8 completes Iamge Segmentation and process, and the extraction of shape, color and size is (not shown, as as described in domestic patent ZL 200510049489.2, the published technology of ZL200710071415.8, ZL 200510049488.8), detect impurity 13 according to shape facility, according to color, size and shape feature, potato material is divided into qualified potato 5 and potato to be fractionated 6; In actual production, impurity 13 can be stone, cane, blade and rotten potato etc., the potato that potato 6 to be fractionated can be the potato of other grades, there is green statin on surface, damaged potato, the potato of deformity and the potato etc. of germination.
As shown in Figure 3, Figure 4, described guiding mechanism 15, comprise the guiding driving lever 11 of many concave curved surfaces, with type of the wagging the tail cylinder 18 of guiding driving lever 11 identical number and gripper shoe 19; One end of every root guiding driving lever 11 is inserted in the second pin-and-hole 25b of respective 3rd U-shaped connector 23c, and hinged by respective 3rd pin 22c, the other end of the 3rd U-shaped connector 23c is connected with frame 17 by each self-steering driving lever trip bolt 24; Many guiding driving lever 11 mid portions insert in the first pin-and-hole 25a of respective second U-shaped connector 23b, and hinged by respective second pin 22b, the other end of the second U-shaped connector 23b is connected with the piston rod upper end of type cylinder 18 of wagging the tail separately; The lower end of each type cylinder 18 of wagging the tail is inserted in respective first U-shaped connector 23a, hinged by respective first pin 22a, the other end of the first U-shaped connector 23a is fixed in gripper shoe 19 by respective cylinder trip bolt 20, and gripper shoe 19 is connected with frame 17 by gripper shoe trip bolt 21; Many described concave curved surface guiding driving levers 11, its radius of curvature is greater than the radius of curvature of potato.
As shown in Figure 5, Figure 6, potato material is after testing dished out from high-speed conveyer belt 14, do level throw motion, potato material form respectively potato proper motion track 26, impurity movement locus 29, potato movement locus 30 to be fractionated under the effect of air ejector 7 and guiding mechanism 15; For impurity 13, trigger air ejector 7 by controlled processing unit 8 and produce high velocity air, impurity 13 is rejected; For potato 6 to be fractionated, guiding mechanism 15 is triggered by controlled processing unit 8, control type cylinder 18 of wagging the tail and the guiding driving lever 11 of some is upwardly arrived correct position, after potato 6 to be fractionated and guiding driving lever 11 collide, movement locus changes, and potato 6 to be fractionated enters top discharge skewed slot 9; For qualified potato 5, air ejector 7 and guiding mechanism 15 all do not trigger, qualified potato 5 is cooked level throw motion always, bottom discharge skewed slot 10 is entered along potato proper motion track 26, complete the classification of potato, top discharge skewed slot 9 and bottom discharge skewed slot 10 are connected with respective belt conveyor system (not shown) respectively.
As shown in Figure 5, Figure 6, collision angle 27 represents the angle between the speed of potato and institute's contact plane; Can be obtained by contact mechanics principle, collision angle 27 is less, and the impact force suffered by potato also can be less, and compress variation possibility that is less, damage also can reduce, and reduces the impulsive force to type cylinder 18 of wagging the tail simultaneously, extends working life.
As shown in Fig. 4, Fig. 6, Figure 10, the contact surface of guiding driving lever 11 is concave curved surface, and its radius of curvature is greater than the radius of curvature of potato; Ensure to form suitable collision angle 27 between potato and guiding driving lever 11, collision angle 27 controls at 0 ° ~ 15 °; By controlling the size of collision angle 27, potato 6 to be fractionated and guiding driving lever 11 collision rift, quick sliding on guiding driving lever 11 curved surface also flies out, and enters top discharge skewed slot 9, completes the accurate sorting of potato 6 to be fractionated.
Described camera field of view 33 width (as shown in Figure 7) is consistent with guiding mechanism 15 width (as shown in Figure 9), when image detects, according to the number of guiding driving lever 11 camera field of view 33 is divided into the tunnel 32 of same number, wherein the corresponding tunnel 32 of each guiding driving lever 11; As shown in Figure 8, represent the check processing result whether each tunnel 32 existing potato 6 to be fractionated by logical value 34,0 represents in this tunnel 32 that there is not potato 6,1 to be fractionated represents in tunnel 32 to there is potato 6 to be fractionated; Controlled processing unit 8 controls guiding driving lever 11 whether action according to detecting the logical value 34 that obtains, and only have when logical value 34 is 1, the guiding mechanism 15 corresponding to it is just upwards released, and rejects potato 6 to be fractionated.Due to the arrangement in disordered state on high-speed conveyer belt 14 of potato material, and the size of potato is also different, occupied tunnel 32 number may be one or more, can according to image testing result during concrete enforcement, with potato detection transverse diameter for diameter draws an imaginary circles 31, tunnel 32 occupied by imaginary circles 31 is determined to adopt one or more guiding mechanism 15 to reject potato, thus realizes effective sorting of potato 6 to be fractionated exactly.
Above-mentioned detailed description of the invention is used for explaining and the present invention is described, instead of limits the invention, and in the protection domain of spirit of the present invention and claim, any amendment make the present invention and change, all fall into protection scope of the present invention.
Claims (4)
1. based on a potato hierarchical control method for machine vision technique, it is characterized in that: the visual field width of video camera is consistent with guiding mechanism width; When image detects, according to the number of guiding driving lever camera field of view is divided into the tunnel of same number, the corresponding tunnel of each guiding driving lever; Represent whether each tunnel exists potato to be fractionated by logical value, 0 represents in this tunnel there is not potato to be fractionated, and 1 represents that this virtual channel memory is potato to be fractionated; Controlled processing unit controls the whether action of guiding driving lever according to detecting the logical value that obtains, only have when logical value is 1, guiding mechanism corresponding to it is just upwards released by cylinder, and potato contacts with guiding driving lever and changes running orbit, is separated in corresponding discharging skewed slot; Due to the arrangement in disordered state on high-speed conveyer belt of potato material, and the size of potato is also different, and occupied tunnel number may be one or more; According to image testing result, with potato detection transverse diameter for diameter draws an imaginary circles, the tunnel occupied by imaginary circles is determined
Adopt one or more guiding driving lever to be separated potato, thus realize effective sorting of different brackets potato exactly.
2. implement the claims a kind of potato grading plant based on machine vision technique of the method described in 1, it is characterized in that: comprise low speed conveyer belt (1), accelerate chute (2), brush roll (3), video camera (4), controlled processing unit (8), high-speed conveyer belt (14), discharging skewed slot (16), frame (17) and sorting actuating mechanism (28); Accelerate the bottom that chute (2) upper end is positioned at low speed conveyer belt (1) output, accelerate the top that chute (2) lower end is positioned at high-speed conveyer belt (14) input, low speed conveyer belt (1), acceleration chute (2) and high-speed conveyer belt (14) are fixed in frame (17) all successively from left to right, between the both sides of high-speed conveyer belt (14) frame (17), be provided with brush roll (3), brush roll (3) is positioned at high-speed conveyer belt (14) top; Sorting actuating mechanism (28) comprises air ejector (7) and guiding mechanism (15), sorting actuating mechanism (28) is positioned between high-speed conveyer belt (14) and discharging skewed slot (16), air ejector (7) is arranged between high-speed conveyer belt (14) and guiding mechanism (15) by frame (17), air ejector (7) is positioned at the top that high-speed conveyer belt (14) exports, and guiding mechanism (15) is positioned at the below that high-speed conveyer belt (14) exports; Frame (17) between brush roll (3) and air ejector (7) is provided with lighting box, lighting box is built with video camera (4), camera field of view (33) width is consistent with guiding mechanism (15) width and high-speed conveyer belt (14) width, and video camera (4), air ejector (7) are connected with controlled processing unit (8) with guiding mechanism (15); Described controlled processing unit (8) comprises computer and cyclelog.
3. a kind of potato grading plant based on machine vision technique according to claim 2, it is characterized in that: described guiding mechanism (15), comprise the guiding driving lever (11) of many concave curved surfaces, with guiding type of the wagging the tail cylinder (18) of driving lever (11) identical number and gripper shoe (19); One end of every root guiding driving lever (11) is inserted in second pin-and-hole (25b) of respective 3rd U-shaped connector (23c), hinged by respective 3rd pin (22c), the other end of the 3rd U-shaped connector (23c) is connected with frame (17) by each self-steering driving lever trip bolt (24); Many guiding driving lever (11) mid portions insert in first pin-and-hole (25a) of respective second U-shaped connector (23b), hinged by respective second pin (22b), the other end of the second U-shaped connector (23b) is connected with the piston rod upper end of type cylinder (18) of wagging the tail separately; The lower end of each type cylinder (18) of wagging the tail is inserted in respective first U-shaped connector (23a), hinged by respective first pin (22a), the other end of the first U-shaped connector (23a) is fixed in gripper shoe (19) by respective cylinder trip bolt (20), and gripper shoe (19) is connected with frame (17) by gripper shoe trip bolt (21); Many described concave curved surfaces guiding driving lever (11), its radius of curvature is greater than the radius of curvature of potato.
4. a kind of potato grading plant based on machine vision technique according to claim 2, it is characterized in that: described discharging skewed slot (16), comprise top discharge skewed slot (9) and bottom discharge skewed slot (10), when potato to be fractionated (6) being detected, type of wagging the tail cylinder (18) driving lever (11) that will lead upwards is released, potato to be fractionated (6) collides with guiding driving lever (11), and and form collision angle (27) between guiding driving lever (11), potato is slided and the top discharge skewed slot (9) that flies out on guiding driving lever (11) curved surface; When detecting qualified potato (5), guiding driving lever (11) is not upwards released, and qualified potato (6) directly enters bottom discharge skewed slot (10); Top discharge skewed slot (9) is connected with respective belt conveyor system respectively with bottom discharge skewed slot (10).
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