CN105903685B - A kind of soya seeds sorting machine that there is batch permutation and sorted with vision - Google Patents
A kind of soya seeds sorting machine that there is batch permutation and sorted with vision Download PDFInfo
- Publication number
- CN105903685B CN105903685B CN201610157845.0A CN201610157845A CN105903685B CN 105903685 B CN105903685 B CN 105903685B CN 201610157845 A CN201610157845 A CN 201610157845A CN 105903685 B CN105903685 B CN 105903685B
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- soybean
- section bar
- fixed
- mainframe
- conveyer belt
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
- B07C5/34—Sorting according to other particular properties
- B07C5/342—Sorting according to other particular properties according to optical properties, e.g. colour
- B07C5/3422—Sorting according to other particular properties according to optical properties, e.g. colour using video scanning devices, e.g. TV-cameras
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
- B07C5/34—Sorting according to other particular properties
- B07C5/342—Sorting according to other particular properties according to optical properties, e.g. colour
- B07C5/3425—Sorting according to other particular properties according to optical properties, e.g. colour of granular material, e.g. ore particles, grain
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
- B07C5/36—Sorting apparatus characterised by the means used for distribution
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/22—Devices influencing the relative position or the attitude of articles during transit by conveyors
- B65G47/26—Devices influencing the relative position or the attitude of articles during transit by conveyors arranging the articles, e.g. varying spacing between individual articles
- B65G47/28—Devices influencing the relative position or the attitude of articles during transit by conveyors arranging the articles, e.g. varying spacing between individual articles during transit by a single conveyor
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Multimedia (AREA)
- Apparatuses For Bulk Treatment Of Fruits And Vegetables And Apparatuses For Preparing Feeds (AREA)
- Sorting Of Articles (AREA)
- Beans For Foods Or Fodder (AREA)
Abstract
The invention discloses a kind of sorting dispensing apparatus of the soybean kernel based on embedded machine vision.Described device includes：Mainframe, blanking device, automatic whole-column and transportation system, embedded vision system, rejecting mechanism, intelligence control system, soybean kernel collection device, automatic sub-packaging device.The present apparatus realizes the automatic whole-column of soybean kernel using the partical gravity at the special conveyer belt and inclined-plane of uniformly distributed circular groove, the realizing of Robot Vision based on image procossing is borrowed to the selected of soybean kernel, the quality of soybean kernel sorting is substantially increased, which has the characteristics that simplify, is light, efficient, lasting.
Description
Technical field
The present invention relates to the selected of plant seed class fruit, the specifically automatic whole-column of soybean kernel and intelligence sorting fills
It is standby.
Background technology
In recent years, the mechanization and modernization of the merchandized handling of high quality seed, particularly seed processing have been promoted to ten
Divide important position.However, the traditional approach of soybean kernel sorting is purely mechanic sorting, there is certain subjectivity, rely on people's
Concrete operations, the efficiency of separation is low, low precision, it is impossible to detect and sub-elect surface damage and mouldy seed.
With computer image processing technology, the development of machine vision technique and maturation, realized using machine vision technique
Farm products area sorting detection can have the advantages that real-time, objective, lossless, fine.Intelligence sorting packing for soybean kernel,
In face of the not high sorting of purely mechanic sharpness of separation is coarse, accuracy rate is relatively low and divides both at home and abroad for the machine vision formula of soybean kernel
Select the far immature present situation of machine, design production it is a kind of based on machine vision can long lasting for work automatic whole-column, automatic point
The soybean kernel refiner for selecting packing is imperative.
Invention content
For the shortcoming of traditionally soybean kernel sorting, the present invention provides one kind, and there is batch permutation to be selected with vision
The soya seeds sorting machine of other function is realized the automatic whole-column of soybean kernel using ramp type conveyer belt with groove, borrowed
It is realized with the machine vision based on image procossing and real-time eliminating mechanism to the selected of soybean kernel, substantially increases soybean seed
The quality of grain sorting, the device have the characteristics that simplify, are light, efficient, lasting.
Technical solution：A kind of soya seeds sorting machine that there is batch permutation and vision and sort, by mainframe,
Blanking device, automatic whole-column and transportation system, embedded vision system, rejecting mechanism, intelligence control system, soybean kernel are collected
Device, automatic sub-packaging device are formed；Conveyer belt (20) with regular distribution circular groove (21) by drive roll (3), from
Dynamic roller (11) and intermediate carrying roller (8) form ramp type soybean kernel automatic whole-column and transportation system；Real-time eliminating mechanism (18)
Section bar mainframe top is fixed on by aluminium section bar corner brace (22)；The machine being made of high-speed camera (33) and camera bellows (34) regards
Feel system (19) is fixed on rejecting mechanism top by the front and rear crossbeam of the card slot on section bar and rejecting mechanism (18), to soybean kernel
The extraction and processing of image information are carried out, identifies soybean kernel inferior；Control cabinet (9) is fixed on type by section bar and corner brace (22)
The middle section of material mainframe lower part is located at below conveyer belt；Soybean kernel collection device is fixed on section bar mainframe tail portion, receives
Collect corresponding soybean kernel；Automatic sub-packaging device (13) is fixed on high quality soybean collection device (15) by corner brace (22) and section bar and goes out
Below material mouth, automatic subpackaging is carried out to high quality soybean.
The present invention a kind of mode be：In above-mentioned automatic whole-column and transportation system, conveyer belt (20) surface is black, is transmitted
Belt surface is evenly distributed with the circular groove (21) that a diameter of 8mm depth is 2mm, and two neighboring circular groove centre-to-centre spacing is 20mm in a row；It passes
Band is sent to be tensioned by drive roll (3), driven roller (11) and intermediate carrying roller (8), in drive roll (3) and intermediate carrying roller (8)
The inclined-plane and horizontal sextant angle that heart line is formed are between 30-40 degree；
According to this composition：Black advantageously reduces the picture noise in the range of machine vision；The shape of groove and distribution are advised
It then ensure that only there are one soybean kernels in each groove, are conducive to the identification of machine vision, while facilitate real-time eliminating device
(18) rejecting promptly and accurately is carried out to unqualified seed, ensure that the efficiency and accuracy rate of rejecting；Suitable inclination angle to pass
Each groove (21) only carries a soybean kernel when sending band (20) operating, and the soybean kernel of conveyer belt (20) other positions
Meeting Automatic-falling completes the automatic whole-column of soybean kernel with this.
The present invention a kind of mode be：Above-mentioned rejecting mechanism (18) is mainly made of 4 parts, crossbeam (24), soybean inferior
It conveys tube seat (27), reject elastic stainless steel piece (29) and Miniature retractable formula electromagnet (28)；Two soybean delivery pipes inferior
Slot (27) is distributed along crossbeam (24) central symmetry, is fixed on crossbeam (24) with screw (31), soybean conveying tube seat (27) inferior
Fluting face and conveyer belt (20) are close to, delivery pipe both sides evolution shape notch (36), length of side 12-15mm, the dislocation of two notches, conveying
Notch is spaced about 50mm on pipe projecting direction, and elastic stainless steel piece (29) is fixed on soybean inferior by screw (30) and conveys tube seat
(27) it is about 20mm with tube spacing on, elastic stainless steel piece (29) and the fixed of screw (30) must plus use nut, plain cushion, spring washer,
Prevent absent-mindedness from coming off；It is defeated that two Miniature retractable formula electromagnet (28) by stent (26) and bolt (37) are individually fixed in soybean inferior
It send on tube seat (27), two are fixed in soybean conveying tube seat (27) inferior, and electromagnet (28) passes through small iron hoop (32) and elasticity
It is connected in the middle part of stainless steel substrates (29), elastic stainless steel piece force part (35) is aligned with rectangular notch (36)；
According to this composition：Elastic stainless steel piece is conducive to elastic stainless steel piece to unqualified seed with the suitable spacing of tube seat
Timely, efficient, accurate rejecting, while avoid rejecting mechanism machine vision is caused blocking property interfere；The size of square groove is in 12-
Not only it can guarantee that the seed being removed smoothly entered tube seat when between 15mm, but also can guarantee that the seed being removed will not be other out of slot again
Side comes out；On both sides, fluting while working efficiency is improved, can reduce the volume of device for eliminating, less waste of material simultaneously；
It tests the separation that obtains and ensure that the soybean kernel being removed will not jump out soybean conveying tube seat inferior from another slot.
Operation principle：Soybean kernel by after blanking device through ramp type conveyer belt (20) automatic whole-column with groove (21)
And be transported at camera bellows, each groove (21) can only carry one piece of soybean kernel；High-speed camera (33) extracts soybean in camera bellows
Seed surface image data, computer vision carry out intelligent recognition to soybean kernel；Real-time eliminating device (18) basis regards in camera bellows
The information feedback of feel rejects the soybean kernel inferior of identification in time, and high quality soybean continues to move ahead and then fall into conveyer belt
Corresponding collection device, automatic sub-packaging device (13) carry out it automatic subpackaging, and soybean inferior passes through soybean kernel collecting pipe inferior
Road enters corresponding collection device.
Description of the drawings
In order to make the purpose of the present invention, technical solution and operation principle clearer, below in conjunction with attached drawing to the present invention
It is described in further detail, wherein：
Fig. 1 is the overall structure diagram of the present invention；
Fig. 2 is the partial structural diagram of the present invention, introduces real-time eliminating device installation site in a device and effect；
Fig. 3 is real-time eliminating device detail drawing of the present invention；
Fig. 4 is special conveyer belt schematic diagram of the present invention；
Fig. 5 is NI Vision Builder for Automated Inspection schematic diagram of the present invention；
Fig. 6 is elastic stainless steel piece schematic diagram of the present invention；
Fig. 7 is that the soybean inferior of real-time eliminating device of the present invention conveys tube seat schematic diagram；
Specific embodiment
Below in conjunction with attached drawing, the present invention is described in further detail.
As shown in Figure 1, the present invention is a kind of soya seeds sorting machine for having the function of batch permutation and being sorted with vision, including
Mechanical platform, automatic control system and embedded machine vision system.It is most of that mechanical platform includes six：The master that aluminium section bar is built
Rack (1), blanking device (23), automatic arraying device (20), device for eliminating (18), collection device (15), (16) and automatic point
Assembling device (13)；Blanking device is fixed on mainframe forepart, and discharge port has hairbrush (6) to be contacted with conveyer belt (20) upper surface, prevents
Only stuck phenomenon occurs for soybean kernel；Conveyer belt is tensioned by drive roll (3), driven roller (11) and intermediate carrying roller (8)
And the inclined-plane of 30-40 degree is formed, after conveyer belt is got up by drive roll (3) driving, under the assistance of surface circular groove (21)
Complete the automatic whole-column to soybean kernel and conveying；Drive roll (3) is hinged with being located on mainframe by vertical shaft bearing (2)
Blanking device (23) lower part, driven roller (11) and intermediate carrying roller (8) are all articulated with by horizontal bearing on mainframe, as schemed institute
Show；No. 1 stepper motor (4) is installed on mainframe side by electric machine support (5), and motor output shaft is by shaft coupling with actively rolling
Cylinder center axis connection；Real-time eliminating mechanism (18) is fixed on section bar mainframe top by aluminium section bar corner brace (22)；By taking the photograph at a high speed
The NI Vision Builder for Automated Inspection of camera (33) and camera bellows (34) composition is fixed on by the front and rear crossbeam of the card slot on section bar and rejecting mechanism
Rejecting mechanism top；Control cabinet is fixed below conveyer belt, interior arrangement control system；Soybean kernel collection device is consolidated by bolt
Due to section bar mainframe tail portion, soybean kernel collection device (16) inferior positioned at high quality soybean seed collection device (15) rear portion,
It fits closely therewith, wherein high quality soybean seed collection device (15) is high-quality big convenient for collecting immediately below transmission end of tape
Beans seed, soybean collection device (16) position poor quality soybean collection port (17) lower section inferior；High quality soybean automatic sub-packaging device (13)
It is fixed below high quality soybean collection device discharge port by corner brace and section bar；Collecting box (10), (14) are located at respectively collects dress
Discharge outlet is put, is fixed on section bar mainframe by corner brace.
It when beginning to use, first has to plug 220V power supplys, power to control cabinet (9), open run switch, driving stepping electricity
Machine (4) and embedded vision system (19), stepper motor (4) drive drive roll (3) to rotate, while conveyer belt (20) is driven to transport
Turn；Soybean kernel is added in into blanking device (23), under conveyer belt special construction, soybean kernel automatic whole-column, each groove
(21) there was only a soybean kernel in；Conveyer belt continues to run with, and soybean kernel enters camera bellows (34) inside, machine vision extraction seed
Grain surface parameter, starts to differentiate soybean kernel；According to the feedback information of vision system, when unqualified seed reaches poor quality
When at the fluting (36) of soybean kernel delivery pipe (27), the electromagnet (28) on device for eliminating makes rapid expanding-contracting action, together
When by small iron hoop (32) draw elastic stainless steel shrapnel (29) deform upon, the curvature portion (35) of stainless steel shrapnel front end and
When to unqualified seed exert a force, perform beating action, unqualified seed is made to enter in soybean kernel delivery pipe (27) inferior；Do not conform to
Lattice seed conveys tube seat under the frictional force of conveyer belt, by soybean inferior and enters in soybean collection port (17) inferior, then falls
Enter in soybean collection device (16) inferior；High quality soybean seed still in groove (21), with the operating of conveyer belt (20), is passing
End of tape is sent to fall into high quality soybean seed collection device (15), and then is fallen into automatic sub-packaging device (13)；Automatic subpackaging fills
Middle bottom is put equipped with gravity sensor, after reaching constant weight, information feeds back to control system, control system Driving Stepping Motor
(12) fortune circles, and the high quality soybean seed in automatic sub-packaging device (13) is made to enter in collecting box (10), completes automatic subpackaging.
The foregoing is merely the preferred embodiment of the present invention, are not intended to restrict the invention, it is clear that those skilled in the art
Various changes and modifications can be made to the invention by member without departing from the spirit and scope of the present invention.If in this way, the present invention
These modifications and variations belong within the scope of the claims in the present invention and its equivalent technologies, then the present invention is also intended to comprising these
Including modification and variation.
Claims (1)
1. a kind of soya seeds sorting machine for having the function of batch permutation and being sorted with vision, the sorting machine are filled by mainframe, blanking
Put, automatic whole-column and transportation system, embedded vision system, rejecting mechanism, intelligence control system, soybean kernel collection device,
Automatic sub-packaging device is formed；It is characterized in that：The mainframe (1) built with lightweight aluminium section bar, with regular distribution circular groove
(21) conveyer belt (20) forms ramp type soybean kernel certainly by drive roll (3), driven roller (11) and intermediate carrying roller (8)
Dynamic permutation and transportation system；No. 1 stepper motor (4) is fixed on by stent (5) on section bar, passes through shaft coupling and drive roll
(3) it is connected；Drive roll (3) is fixed on section bar mainframe lower part by vertical shaft bearing (2), intermediate carrying roller (8) and driven
Roller (11) is individually fixed in the tail portion on section bar mainframe top middle part position to the rear and top by horizontal bearing block；Side is thick
The poly (methyl methacrylate) plate (7) of 5mm is fixed on mainframe；Blanking device (23) is secured by bolts in section bar mainframe forepart, under
Material mouth is brought out to fit closely by hairbrush (6) and conveyer belt (20)；Real-time eliminating mechanism (18) is solid by aluminium section bar corner brace (22)
Due to section bar mainframe top, lower surface is with conveyer belt upper surface at a distance of 1-2mm；By high-speed camera (33) and camera bellows (34) group
Into NI Vision Builder for Automated Inspection (19) rejecting mechanism top is fixed on by the front and rear crossbeam of the card slot on section bar and rejecting mechanism (18)；
The control cabinet (9) for including vision system and intelligence control system is fixed on section bar mainframe lower part by section bar and corner brace (22)
Middle section, below conveyer belt；Soybean kernel collection device is fixed on section bar mainframe tail portion, high quality soybean automatic subpackaging
Device (13) is fixed on by corner brace (22) and section bar below high quality soybean collection device (15) discharge port；Collecting box is located at respectively
Collection device discharge outlet is fixed on by corner brace (22) on mainframe；
In the automatic arraying device, conveyer belt (20) is special conveyer belt, and thickness 3mm, transmission belt surface is evenly distributed with a diameter of
8mm depth is the circular groove (21) of 2mm, and adjacent two row groove center is away from for 35mm, two neighboring circular groove centre-to-centre spacing in a row
For 20mm；Conveyer belt is tensioned by drive roll (3), driven roller (11) and intermediate carrying roller (8), drive roll (3) and centre
The inclined-plane and horizontal sextant angle that carrying roller (8) line of centres is formed are between 30-40 degree；
The rejecting mechanism (18) is mainly made of 4 parts, and crossbeam (24), rejects elasticity not at soybean conveying tube seat (27) inferior
Become rusty steel disc (29) and Miniature retractable formula electromagnet (28)；Two soybean inferior convey tube seats (27) along crossbeam (24) central symmetry
Distribution, is fixed on screw (31) on crossbeam (24), and soybean inferior conveying tube seat (27) slots face and conveyer belt (20) close to defeated
Pipe both sides evolution shape notch (36), length of side 12-15mm are sent, two notches misplace, and notch spacing is on delivery pipe projecting direction
50mm, elastic stainless steel piece (29) are fixed on by screw (30) on soybean inferior conveying tube seat (27), are 20mm with tube spacing, bullet
Property stainless steel substrates (29) and screw (30) it is fixed must plus with nut, plain cushion, spring washer；Two Miniature retractable formula electromagnet (28) by
Stent (26) and bolt (37) are individually fixed on soybean conveying tube seat (27) inferior, and two Miniature retractable formula electromagnet (28) are solid
Due in soybean inferior conveying tube seat (27), electromagnet (28) in the middle part of small iron hoop (32) and elastic stainless steel piece (29) by connecting
It connects, elastic stainless steel piece force part (35) is aligned with rectangular notch (36).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610157845.0A CN105903685B (en) | 2016-03-18 | 2016-03-18 | A kind of soya seeds sorting machine that there is batch permutation and sorted with vision |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610157845.0A CN105903685B (en) | 2016-03-18 | 2016-03-18 | A kind of soya seeds sorting machine that there is batch permutation and sorted with vision |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105903685A CN105903685A (en) | 2016-08-31 |
| CN105903685B true CN105903685B (en) | 2018-06-15 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610157845.0A Expired - Fee Related CN105903685B (en) | 2016-03-18 | 2016-03-18 | A kind of soya seeds sorting machine that there is batch permutation and sorted with vision |
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| CN (1) | CN105903685B (en) |
Families Citing this family (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106311629B (en) * | 2016-09-28 | 2018-10-19 | 东北农业大学 | A kind of soybean kernel grading plant based on embedded machine vision |
| CN107755292B (en) * | 2017-11-16 | 2024-03-22 | 杭州乔戈里科技有限公司 | Device and method for rapidly detecting appearance of ball |
| CN107824471A (en) * | 2017-11-22 | 2018-03-23 | 东北农业大学 | One kind is based on the comprehensive detection of machine vision and the other soya seeds permutation separator of electromagnetic separation |
| CN109530271A (en) * | 2018-12-11 | 2019-03-29 | 天津市宽达水产食品有限公司 | Frozen fresh green pea defect ware on-line checking and rejecting are equipped |
| CN109590235A (en) * | 2018-12-27 | 2019-04-09 | 东北农业大学 | Soybean detection system based on machine vision |
| CN110231341B (en) * | 2019-04-29 | 2022-03-11 | 中国科学院合肥物质科学研究院 | Online detection device and detection method for internal cracks of rice seeds |
| CN110419292B (en) * | 2019-07-11 | 2021-07-23 | 湖州师范学院 | Pneumatic adsorption type seed vigor sorting machine |
| CN113731834B (en) * | 2020-05-29 | 2022-07-12 | 中国科学院长春光学精密机械与物理研究所 | High-flux rice seed sorting device |
| CN111921865A (en) * | 2020-08-10 | 2020-11-13 | 东北农业大学 | Device for primary sorting and arraying and conveying of soybean seeds |
| CN112715087B (en) * | 2020-12-24 | 2022-04-15 | 杭州电子科技大学 | Automatic soybean seed testing device |
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| CN105903685A (en) | 2016-08-31 |
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