CN106040609A - Intelligent silkworm pupa identification facility and method - Google Patents

Intelligent silkworm pupa identification facility and method Download PDF

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Publication number
CN106040609A
CN106040609A CN201610361372.6A CN201610361372A CN106040609A CN 106040609 A CN106040609 A CN 106040609A CN 201610361372 A CN201610361372 A CN 201610361372A CN 106040609 A CN106040609 A CN 106040609A
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CN
China
Prior art keywords
pupa bombycis
pupa
slide rail
bombycis
conveyer belt
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Granted
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CN201610361372.6A
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Chinese (zh)
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CN106040609B (en
Inventor
王峥荣
刘星月
陶丹
李光林
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Southwest University
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Southwest University
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    • BPERFORMING OPERATIONS; TRANSPORTING
    • B07SEPARATING SOLIDS FROM SOLIDS; SORTING
    • B07CPOSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
    • B07C5/00Sorting 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
    • B07C5/34Sorting according to other particular properties
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B07SEPARATING SOLIDS FROM SOLIDS; SORTING
    • B07CPOSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
    • B07C5/00Sorting 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
    • B07C5/02Measures preceding sorting, e.g. arranging articles in a stream orientating

Abstract

The invention belongs to the technical field of male and female silkworm pupa identification in the silkworm breeding and mulberry growing industry and particularly relates to an intelligent silkworm pupa identification facility and method. The intelligent silkworm pupa identification facility comprises a base, an intelligent silkworm pupa conveying device, an intelligent silkworm pupa detecting device and an intelligent silkworm pupa collecting device. The intelligent silkworm pupa conveying device is arranged on the base and used for driving silkworm pupae to move forwards at a given speed, positioning and picking the silkworm pupae and adjusting the postures of the silkworm pupae. The intelligent silkworm pupa detecting device is located at the conveying tail end of the intelligent silkworm pupa conveying device and used for conducting image collection on the silkworm pupae and identifying gonad characteristics of the silkworm pupae. The intelligent silkworm pupa collecting device is located beside the intelligent silkworm pupa detecting device and used for separating and collecting the identified silkworm pupae. According to the intelligent silkworm pupa identification facility and method, the conveying device is compact in overall structure, and the machine vision technology is adopted, so that through software control, transferring and posture adjustment of the silkworm pupae can be achieved at the same time, the accuracy rate of subsequent intelligent silkworm pupa identification can be effectively increased, and accordingly the facility and method have wide application prospects in the fields such as intelligent silkworm pupa transportation.

Description

A kind of Pupa bombycis intelligent identification equipment and method
Technical field
The invention belongs to that sericulture industry is female, the identification technical field of male silkworm pupa, more particularly, to a kind of Pupa bombycis Intelligent Recognition Equipment and method.
Background technology
China is large agricultural country, and sericulture industry is always the important component part of China's agricultural, and wherein planting silkworm and breeding is silkworm The key link of cultivation, and male and female Pupa bombycis separates and decides the quality that kind of silkworm breeds.At present, male and female Pupa bombycis separates and is all dependent on Workman passes through eye observation Pupa bombycis afterbody gonad feature, has more by virtue of experience judged, it is low, accurate that this traditional method exists efficiency The problems such as really rate is low and labor strength is big, have not met the demand of agricultural modernization development.Along with agricultural modernization Propelling, the automatization level conscientiously improving sericulture the most increasingly comes into one's own, and wherein planting silkworm and breeding is the pass of silkworm cultivation Key link, and male and female Pupa bombycis separates and decides the quality that kind of silkworm breeds.At present, male and female Pupa bombycis separates and is all dependent on manually having come Become, be the most also the transportation problem manually completing Pupa bombycis, but the method exists, and efficiency is low, accuracy rate is low and workman's work The problems such as intensity is big, have not met the demand of modern agricultural development.Given this plant situation, also have a lot of stakeholder to attempt leading to The correlated characteristic crossing detection Pupa bombycis automatically realizes the separation of Pupa bombycis, such as by analyzing the difference of male and female Pupa bombycis near infrared spectrum Different, utilize machine vision to detect the methods such as Pupa bombycis body difference and afterbody texture information to realize being automatically separated of Pupa bombycis, but Pupa bombycis is simply carried by traditional conveyer belt mode by these methods, and does not takes into account when Pupa bombycis falls on the conveyor belt The problem that stacking is various with attitude, owing to detecting system is fixing, the follow-up detection to Pupa bombycis individual features is more difficult, so The accuracy rate that male and female Pupa bombycis separates is relatively low, is all difficult to be used widely in actual production, there is presently no relevant device and grind Successful story processed, thus there is the strong skill to the intelligent conveyer device possessing high-intelligentization, high-accuracy in this industry Art requirement.
Summary of the invention
The technical problem to be solved is the disadvantages described above for prior art or technology requirement, the mesh of the present invention Be to provide intelligent identification device and the method for a kind of Pupa bombycis, Pupa bombycis gonad feature is directly entered by it by Vision Builder for Automated Inspection Capable figure and the knowledge method for distinguishing adopted is to separate male and female Pupa bombycis, and adds intelligence conveyor module before detection module to adjust silkworm The attitude of pupa, in order to Pupa bombycis gonad feature is adopted figure and identification by visual system, is equipped with rewinding module after detection module, Complete separation and the rewinding of the Pupa bombycis after identifying further, make the equipment of complete set, Pupa bombycis can be greatly improved and separate Efficiency and accuracy rate.
The technical scheme is that a kind of Pupa bombycis intelligent identification equipment, including pedestal,
Pupa bombycis intelligence conveyer device, is located on described pedestal, is used for driving Pupa bombycis to advance by given speed, and enters Pupa bombycis After the capable posture positioning, pick up and regulate Pupa bombycis, Pupa bombycis is transported to Pupa bombycis intelligent detection device;
Pupa bombycis intelligent detection device, is located on described pedestal, is positioned at the conveying tail end of described Pupa bombycis intelligence conveyer device, uses In receiving the Pupa bombycis that described Pupa bombycis intelligence conveyer device carries, and Pupa bombycis is carried out image acquisition, and the gonad feature to Pupa bombycis It is identified;
Pupa bombycis intelligence material collecting device, is located on described pedestal, is positioned at the side of described Pupa bombycis intelligent detection device, for knowledge Pupa bombycis after not carries out separating rewinding.
The invention has the beneficial effects as follows: in present device, Pupa bombycis intelligence conveyer device can realize Pupa bombycis in Intelligent Recognition During in order and intelligence conveying, adjust the attitude of Pupa bombycis before testing, it is simple to improve the efficiency of follow-up identification work And accuracy rate;Pupa bombycis intelligent detection device can accurately identify the gonad of Pupa bombycis by the gonad feature of Pupa bombycis is adopted figure and identification Feature;Pupa bombycis after identifying can be separated and rewinding by Pupa bombycis intelligence material collecting device;Overall transport conveyor constructions is compact, uses Machine vision technique, it is simple to by software control, it is possible to realize transfer and the pose adjustment of Pupa bombycis, after can being effectively improved simultaneously The accuracy rate of continuous Pupa bombycis Intelligent Recognition, therefore possesses, in fields such as Pupa bombycis Intelligent transports, the prospect of being widely applied.
On the basis of technique scheme, the present invention can also do following improvement.
Further, described Pupa bombycis intelligence conveyer device includes
Supporting station, described supporting station is located at the upper surface of described pedestal;
Conveyer belt apparatus, described conveyer belt apparatus is located on described supporting station, is used for driving Pupa bombycis to advance by given speed;
Feed arrangement, described feed arrangement is located on described conveyer belt apparatus, is positioned at the initiating terminal of described conveyer belt apparatus Vertical top, be used for guiding described Pupa bombycis without stackably dropping into described conveyer belt apparatus;
Intelligence pick device, described intelligence pick device is located on described supporting station, and it is positioned at described conveyer belt apparatus Vertically top, for the Pupa bombycis on conveyer belt apparatus being positioned, pick up and regulated the posture of Pupa bombycis, and is transported to Pupa bombycis Described Pupa bombycis intelligence material collecting device.
Use and above-mentioned further provide the benefit that: Pupa bombycis intelligence conveyer device can realize Pupa bombycis in Intelligent Recognition process In in order and intelligence conveying, adjust the attitude of Pupa bombycis before testing, it is simple to improve efficiency and the standard of follow-up identification work Really rate.
Further, described conveyer belt apparatus includes conveyor belt support, drivewheel, driven pulley, conveyer belt and driving motor, institute State conveyor belt support to be fixed on described pedestal, described drivewheel and described driven pulley respectively can axial rotation be fixed on described The two ends of conveyor belt support, described conveyer belt is set on described drivewheel and described driven pulley, and described driving motor is fixed on On described conveyor belt support, the outfan of described driving motor is fixing with described drivewheel to be connected, described driving driven by motor institute State drivewheel axial rotation, thus drive described conveyer belt to advance by given speed.
Above-mentioned further scheme is used to provide the benefit that: conveyer device includes using the active driving motor to control Wheel, under the cooperation of drivewheel and driven pulley, drives belt operating, drives the rotating speed of motor can realize conveying speed by regulation The regulation of rate.
Further, described feed arrangement includes feeding bracing frame and feeding warehouse, and described charging bracing frame is fixed on described defeated Send one end of belt supporting frame, described feeding warehouse to be fixed on described charging bracing frame and be positioned at the vertical top of described conveyer belt.
Above-mentioned further scheme is used to provide the benefit that: arranging of feeding warehouse can realize uniform feeding, it is to avoid Pupa bombycis exists Stack on conveyer belt.
Further, described feeding warehouse is inverted trapezoidal structure wide at the top and narrow at the bottom.
Above-mentioned further scheme is used to provide the benefit that: feeding warehouse is inverted trapezoidal structure wide at the top and narrow at the bottom, critical size Draw according to general Pupa bombycis Size calculation with installation dimension, Pupa bombycis can be made slow under the rubbing action transmitting zone face of motion Slowly fall on a moving belt, thus ensure that Pupa bombycis is on a moving belt without stacking.
Further, described intelligence pick device includes the vision localization for the Pupa bombycis on conveyer belt carries out vision localization Device, the Pupa bombycis on conveyer belt is picked up and regulates the Pupa bombycis mechanism for picking in Pupa bombycis direction and drive described vision localization to fill Put and XY straight line slipway mechanism that Pupa bombycis mechanism for picking moves (XY straight line slipway mechanism refers to provide and is being mutually perpendicular to Both direction on linear motion frame for movement.), described XY straight line slipway mechanism is located on described pedestal, and described vision is fixed Position device and described Pupa bombycis mechanism for picking are located on described XY straight line slipway mechanism and are positioned at the vertical top of described conveyer belt, Described XY straight line slipway mechanism drives described vision positioning device and described Pupa bombycis mechanism for picking in the conveying along described conveyer belt Direction and moving along the conveying direction of vertical described conveyer belt.
Above-mentioned further scheme is used to provide the benefit that: Pupa bombycis can be positioned by arranging of vision positioning device;Silkworm Pupa mechanism for picking can realize being picked up the Pupa bombycis on conveyer belt and regulating Pupa bombycis direction;XY straight line slipway mechanism is used for carrying Dynamic described vision positioning device and Pupa bombycis mechanism for picking move.
Further, described XY straight line slipway mechanism includes the first Y-axis slide rail, the second Y-axis slide rail and X-axis slide rail, described On the described pedestal of the both sides that one Y-axis slide rail and described second Y-axis slide rail are located at described conveyer belt, described first Y-axis slide rail and Described second Y-axis slide rail all conveying directions with described conveyer belt be arranged in parallel, and the two ends of described X-axis slide rail are separately fixed at institute Stating on the slide unit slide block arranged on the slide unit slide block arranged on the first Y-axis slide rail and on described second Y-axis slide rail, described X-axis is sliding Rail is vertically arranged with described first Y-axis slide rail and described second Y-axis slide rail, and described first Y-axis slide rail is provided with along a described Y Axle slide rail length direction extend the first screw mandrel, the slide unit slide block set on described first Y-axis slide rail on described first screw mandrel, institute State one end of the first Y-axis slide rail and be provided with the first slide rail motor for driving described first screw mandrel axial rotation, described first Rotating of bar drives described X-axis slide rail to move back and forth along the length direction of described first Y-axis slide rail and described second Y-axis slide rail, Described X-axis slide rail is provided with the second screw mandrel extended along described X-axis slide rail length direction, and one end of described X-axis slide rail is provided with band Second slide rail motor of dynamic described second screw mandrel axial rotation, the slide unit slide block on described X-axis slide rail is fixed with fixing link plate Frame, the slide unit slide block set on described X-axis slide rail on described second screw mandrel, described vision positioning device and described Pupa bombycis pickup machine Structure is each attached on described fixing link plate frame, and the axial rotation of described second screw mandrel drives described vision positioning device and described silkworm Pupa mechanism for picking moves back and forth along the length direction of described X-axis slide rail.
Above-mentioned further scheme is used to provide the benefit that: to be rotated by first slide rail driven by motor the first screw mandrel, thus X-axis slide rail is driven to move, by the second slide rail driven by motor second along the length direction of the first Y-axis slide rail and the second Y-axis slide rail Screw mandrel rotates, thus the moving back and forth of the length direction realizing driving vision positioning device and Pupa bombycis mechanism for picking along X-axis slide rail, Thus realize vision positioning device and side's X, the movement of Y-direction on the conveyor belt of Pupa bombycis mechanism for picking, convenient to silkworm on conveyer belt The image recognition of pupa and pickup.
Further, described Pupa bombycis mechanism for picking includes that camera and annular light source, described camera are fixed on described fixing link plate On frame, the camera lens of described camera is towards described conveyer belt, and described annular light source is located at described centered by the camera lens of described camera On the camera lens of camera.Preferably, industrial camera used by vision positioning device is mega pixel industrial camera, and its field range is Grade;The light source of institute's adapted is annular light source.
Above-mentioned further scheme is used to provide the benefit that: the camera lens of camera and annular light source axial line keep conllinear, phase Machine for carrying out imaging to Pupa bombycis, and light annular source provides the intensity of illumination needed for imaging.
Further, described Pupa bombycis mechanism for picking includes that (so-called voice coil motor is similar to that loudspeaker because of it to voice coil motor Voice coil loudspeaker voice coil and gain the name, there is high frequency sound, high-precision feature.) and suction nozzle, described voice coil motor is fixed on described fixing link plate frame On, described suction nozzle is located on the output shaft of described voice coil motor, described voice coil motor drive described suction nozzle near and away from described Conveyer belt.
Above-mentioned further scheme is used to provide the benefit that: using voice coil motor to drive suction nozzle hollow, suction nozzle can use Rubber is made, and rubber suction nozzle is fixed on voice coil motor hollow projecting shaft by afterbody sleeve pipe, has been used for the pickup of Pupa bombycis, has removed Fortune and pose adjustment, wherein carrying and the pose adjustment of Pupa bombycis can be carried out simultaneously, it is also possible to substep is carried out.
Further, described Pupa bombycis intelligent detection device includes support, and described is erected on described pedestal, is positioned at described silkworm The conveying tail end of pupa intelligence conveyer device;
Bar shaped bearing groove, described bar shaped bearing groove is fixing on the bracket by fixing bar, and described bar shaped bearing groove inclines Tiltedly arrange, and described bar shaped bearing groove is positioned at the high-end one end of level and is positioned at the conveying tail end of described Pupa bombycis intelligence conveyer device;
Vision inspection apparatus, described vision inspection apparatus sets on the bracket, on described bar shaped bearing groove Pupa bombycis carries out image acquisition and gonad feature identification.
Use and above-mentioned further provide the benefit that: Pupa bombycis under the effect of self gravitation along the bar shaped carrying being obliquely installed On groove slide, when Pupa bombycis slide into vision inspection apparatus detection position time, vision inspection apparatus Pupa bombycis is carried out image acquisition and Gonad feature identification, it is judged that the male and female situation of Pupa bombycis.
Further, described bar shaped bearing groove is provided with photoelectric sensor, and described photoelectric sensor fills with described vision-based detection Circuits connects, and described vision inspection apparatus is less than the portion of described photoelectric sensor towards level height on described bar shaped bearing groove Point, when described photoelectric sensor senses that Pupa bombycis passes through, described vision inspection apparatus is opened.
Use and above-mentioned further provide the benefit that: photoelectric sensor is set on bar shaped bearing groove, when Pupa bombycis slides into institute When stating the sensing position of photoelectric sensor, vision inspection apparatus is opened, and Pupa bombycis carries out image acquisition and gonad feature identification, energy Grasp the time of image acquisition exactly.
Further, described fixing bar includes that the length of hollow fixes the short fixing bar of bar and hollow, and described length is fixed bar and is located at Described support is near the side of described Pupa bombycis intelligent detection device, and described short fixing bar is located at described support away from described Pupa bombycis intelligence Can detect the side of device, described length is fixed the top of bar and described short fixing bar and is all inserted with adjusting rod, and described adjusting rod leads to Crossing lock-screw to be locked at described length and fix bar and the top of described short fixing bar, the two ends of described bar shaped bearing groove are passed through respectively Spherical hinge structure is fixed on the top of two described adjusting rods.
Use and above-mentioned further provide the benefit that: all insert in the length of hollow fixes bar and in the short fixing bar of hollow Adjusting rod, is locked by lock-screw, and the two ends of bar shaped bearing groove are separately fixed at the top of two adjusting rods, by regulation Adjusting rod stretches out long fixing bar and the length in short fixing masthead portion, it is achieved height and the tune of gradient to bar shaped bearing groove Joint.
Further, described bar shaped bearing groove is in tilted layout horizontal by 15 ° of-25 ° of angles.
Use and above-mentioned further provide the benefit that: bar shaped bearing groove is in tilted layout horizontal by 15 ° of-25 ° of angles, energy When avoiding inclination angle excessive, Pupa bombycis sliding speed is too fast and affect the quality of image acquisition, is avoided that again Pupa bombycis when inclination angle is too small Sliding speed is crossed slow and is affected recognition rate.
Further, described bar shaped bearing groove is transparent bearing groove, and the quantity of described vision inspection apparatus is four, four Described vision inspection apparatus is arranged in high degree of symmetry two-by-two about the axis of described bar shaped bearing groove, four described vision-based detection dresses Put all towards same position on described bar shaped bearing groove.
Use and above-mentioned further provide the benefit that: the setting of four vision inspection apparatus, taken into full account that Pupa bombycis falls Various location status residing for its gonad position time in detection platform, it is ensured that can have a set of visual system can be to the property of Pupa bombycis all the time Gland feature adopts figure and identification, thus substantially increases feasibility and the accuracy rate of Pupa bombycis identification.
Further, the angle between the axis of described vision inspection apparatus and described bar shaped bearing groove is 10 °-20 °.
Use and above-mentioned further provide the benefit that: four visual systemes relative to glass bearing groove axis be 10 °-20 ° and High degree of symmetry is arranged two-by-two, compact conformation, it is ensured that in all cases Pupa bombycis gonad position can accurately be adopted figure, improve The accuracy rate identified.
Further, described vision inspection apparatus includes camera and light source, and camera uses the industrial camera of more than mega pixel, And its field range is grade;The light source of institute's adapted is annular light source.
Further, described support is provided with two fixed frames, and described bar shaped bearing groove passes two described fixed frames, described Vision inspection apparatus is located at top and the bottom of the inner side of two described fixed frames.
Further, two relative sides of described fixed frame are fixing on the bracket by rotating disk, described fixing Frame can rotate by line centered by the line of two described rotating disks.
Above-mentioned further scheme provides the benefit that: facilitate the regulation of vision inspection apparatus, can carry according to bar shaped The inclination angle of groove regulates the test point of vision inspection apparatus.
Further, described Pupa bombycis intelligence material collecting device includes that electric machine support, described electric machine support are fixed on described pedestal;
Splitter box, described splitter box is fixed on the top of described electric machine support, and described splitter box is located at described bar shaped carrying The vertical lower section of the horizontal low side of groove;
Rotary electric machine, described rotary electric machine is fixed on described electric machine support, is positioned at the lower section of described splitter box, described turn The output shaft of galvanic electricity machine is upward through and stretches out the middle part of described splitter box;
Gathering sill, described gathering sill is located on the groove face of described splitter box, and described gathering sill is along the length of described splitter box Described splitter box is separated into two passages by direction, and two described passages lay respectively at the both sides of described gathering sill, described guiding The bottom of groove is fixing with the output shaft of described rotary electric machine to be connected, and described rotary electric machine drives described gathering sill to rotate electricity with described Rotate centered by the output shaft of machine.
Above-mentioned further scheme is used to provide the benefit that: driving motor to select easily controllable motor, it rotates The recognition result of state Pupa bombycis intelligent detection device controls, and then drives that gathering sill is suitable, rotate counterclockwise or do not rotate formation Three Pupa bombycis passages, are destroyed female, male silkworm pupa and gonad feature respectively and the Pupa bombycis of None-identified carries out separating rewinding.
A kind of Pupa bombycis intelligent identification Method, uses Pupa bombycis intelligent identification equipment described above to carry out the identification of Pupa bombycis, including Following steps:
Step one: Pupa bombycis intelligence conveyer device drive Pupa bombycis press given speed advance, and Pupa bombycis is positioned, pick up with And after the posture of regulation Pupa bombycis, Pupa bombycis is transported to Pupa bombycis intelligent detection device;
Step 2, Pupa bombycis intelligent detection device receives the Pupa bombycis of described Pupa bombycis intelligence conveyer device conveying, and enters Pupa bombycis Row image acquisition, and the gonad feature of Pupa bombycis is identified;
Step 3, the Pupa bombycis after identifying is carried out separating rewinding by Pupa bombycis intelligence material collecting device.
Further, specifically include following steps: step one, open conveyer belt apparatus, pour batch Pupa bombycis into feed arrangement In, Pupa bombycis stackably falls on conveyer belt apparatus through the nothing of dredging of feed arrangement, and Pupa bombycis tiles thereon and with described conveying Belting travels forward by predetermined speed;
Step 2, is used in blob analyzing and positioning Pupa bombycis the Pupa bombycis on conveyer belt apparatus by described vision positioning device The heart, and calculate the Pupa bombycis cephalocaudal direction angle relative to Y-direction;
Step 3, starts XY straight line slipway mechanism so that XY straight line slipway mechanism drives described voice coil motor to move to silkworm The vertical top of pupa, starts described voice coil motor, and the output shaft of described voice coil motor extend out to suction nozzle and holds Pupa bombycis, then described The output shaft of voice coil motor is retracted, and then the output shaft axial rotation of voice coil motor makes the first direction of Pupa bombycis identical with Y-direction;
Step 4, XY straight line slipway mechanism drives described voice coil motor to high-end vertical of the level of bar shaped bearing groove Side, the output shaft of described voice coil motor stretches out, described suction nozzle release Pupa bombycis, by Pupa bombycis release to bar shaped bearing groove;
Step 5, Pupa bombycis is under gravity along the downward landing of bar shaped bearing groove, when Pupa bombycis is through vision inspection apparatus, Photoelectric sensor detects the position of Pupa bombycis and sends feedback information, automatically trigger vision inspection apparatus Pupa bombycis is carried out Cai Tu and Gonad feature identification;
Step 6, Pupa bombycis intelligence material collecting device according to vision inspection apparatus to the recognition result of Pupa bombycis gonad feature to male silkworm Pupa, female Pupa bombycis and the classification collecting of Unidentified Pupa bombycis, complete the rewinding to different sexes Pupa bombycis.
Above-mentioned further scheme is used to provide the benefit that: the inventive method can realize Pupa bombycis during Intelligent Recognition In order and intelligence conveying, the attitude of Pupa bombycis can be adjusted before testing, it is simple to improve efficiency and the accuracy rate identifying work; The accuracy rate of Pupa bombycis Intelligent Recognition can be effectively improved, therefore possess, in fields such as Pupa bombycis Intelligent transports, the prospect of being widely applied.
Accompanying drawing explanation
Fig. 1 is the structural representation of the present invention;
Fig. 2 is the front view of the present invention;
Fig. 3 is the structural representation of the Pupa bombycis intelligence conveyer device of the present invention;
Fig. 4 is the front view of the Pupa bombycis intelligence conveyer device of the present invention;
Fig. 5 is the top view of the Pupa bombycis intelligence conveyer device of the present invention;
Fig. 6 is the left view of the Pupa bombycis intelligence conveyer device of the present invention;
Fig. 7 is the sectional view of the feeding warehouse of the present invention;
Fig. 8 is the structural representation of the Pupa bombycis intelligent detection device of the present invention;
Fig. 9 is the front view of the Pupa bombycis intelligent detection device of the present invention;
Figure 10 is the top view of the Pupa bombycis intelligent detection device of the present invention;
Figure 11 is the left view of the Pupa bombycis intelligent detection device of the present invention;
Figure 12 is the structural representation of the Pupa bombycis intelligence material collecting device of the present invention;
Figure 13 is the front view of the Pupa bombycis intelligence material collecting device of the present invention;
Figure 14 is the top view of the Pupa bombycis intelligence material collecting device of the present invention;
Figure 15 is the left view of the Pupa bombycis intelligence material collecting device of the present invention;
In accompanying drawing, the list of parts representated by each label is as follows:
1, pedestal, 2, Pupa bombycis intelligence conveyer device, 3, Pupa bombycis intelligent detection device, 4, Pupa bombycis intelligence material collecting device, 5, Cushion cap, 6, conveyer belt apparatus, 7, conveyor belt support, 8, drivewheel, 9, driven pulley, 10, conveyer belt, 11, drive motor, 12, enter Material device, 13, charging bracing frame, 14, feeding warehouse, 15, intelligence pick device, 16, vision positioning device, 17, camera, 18, ring Shape light source, 19, Pupa bombycis mechanism for picking, 20, voice coil motor, 21, suction nozzle, 22, XY straight line slipway mechanism, the 23, first Y-axis slide rail, 24, the second Y-axis slide rail, 25, X-axis slide rail, 26, slide unit slide block, the 27, first screw mandrel, the 28, first slide rail motor, 29, second Bar, the 30, second slide rail motor, 31, fixing link plate frame, 32, support, 33, bar shaped bearing groove, 34, vision inspection apparatus, 35, light Electric transducer, 36, long fixing bar, 37, short fixing bar, 38, adjusting rod, 39, lock-screw, 40, spherical hinge structure, 41, fixed frame, 42, rotating disk, 43, electric machine support, 44, splitter box, 45, rotary electric machine, 46, gathering sill.
Detailed description of the invention
Being described principle and the feature of the present invention below in conjunction with accompanying drawing, example is served only for explaining the present invention, and Non-for limiting the scope of the present invention.
As shown in Figure 1 and Figure 2, the present invention includes pedestal 1,
Pupa bombycis intelligence conveyer device 2, is located on described pedestal 1, is used for driving Pupa bombycis to advance by given speed, and to Pupa bombycis After carrying out positioning, pick up and regulate the posture of Pupa bombycis, Pupa bombycis is transported to Pupa bombycis intelligent detection device 3;
Pupa bombycis intelligent detection device 3, is located on described pedestal 1, is positioned at the conveying tail of described Pupa bombycis intelligence conveyer device 2 End, for receiving the Pupa bombycis of described Pupa bombycis intelligence conveyer device 2 conveying, and carries out image acquisition, and the property to Pupa bombycis to Pupa bombycis Gland feature is identified;
Pupa bombycis intelligence material collecting device 4, is located on described pedestal 1, is positioned at the side of described Pupa bombycis intelligent detection device 3, is used for Carry out separating rewinding to the Pupa bombycis after identifying.
Preferably, as shown in Fig. 3, Fig. 4, Fig. 5, Fig. 6, described Pupa bombycis intelligence conveyer device 2 includes
Supporting station 5, described supporting station 5 is located at the upper surface of described pedestal 1;
Conveyer belt apparatus 6, described conveyer belt apparatus 6 is located on described supporting station 5, before being used for driving Pupa bombycis by given speed Enter;
Feed arrangement 12, described feed arrangement 12 is located on described conveyer belt apparatus 6, is positioned at described conveyer belt apparatus 6 The vertical top of initiating terminal, is used for guiding described Pupa bombycis without stackably dropping into described conveyer belt apparatus 6;
Intelligence pick device 15, described intelligence pick device 15 is located on described supporting station 5, and it is positioned at described conveyer belt dress Put the vertical top of 6, for the Pupa bombycis on conveyer belt apparatus 6 being positioned, pick up and regulated the posture of Pupa bombycis, and by Pupa bombycis It is transported to described Pupa bombycis intelligence material collecting device 4.
Pupa bombycis intelligence conveyer device 2 can realize Pupa bombycis carrying in order, in detection during Intelligent Recognition with intelligence Adjust the attitude of Pupa bombycis, it is simple to improve efficiency and the accuracy rate of follow-up identification work before.
Preferably, described conveyer belt apparatus 6 includes conveyor belt support 7, drivewheel 8, driven pulley 9, conveyer belt 10 and drives Motor 11, described conveyor belt support 7 is fixed on described pedestal 1, and described drivewheel 8 and described driven pulley 9 can axially turn respectively The dynamic two ends being fixed on described conveyor belt support 7, described conveyer belt 10 is set on described drivewheel 8 and described driven pulley 9, Described driving motor 11 is fixed on described conveyor belt support 7, and the outfan of described driving motor 11 is fixed with described drivewheel 8 Connecting, described driving motor 11 drives described drivewheel 8 axial rotation, thus before driving described conveyer belt 10 by given speed Enter.Conveyer device includes using the drivewheel 8 driving motor 11 to control, and under the cooperation of drivewheel 8 and driven pulley 9, drives Belt operates, and is driven the rotating speed of motor 11 can realize the regulation to transfer rate by regulation.
Preferably, described feed arrangement 12 includes feeding bracing frame 13 and feeding warehouse 14, and described charging bracing frame 13 is fixed In one end of described conveyor belt support 7, described feeding warehouse 14 is fixed on described charging bracing frame 13 and is positioned at described conveyer belt The vertical top of 10.Arranging of feeding warehouse 14 can realize uniform feeding, it is to avoid Pupa bombycis stacks on conveyer belt 10.
Preferably, as it is shown in fig. 7, described feeding warehouse 14 is in inverted trapezoidal structure wide at the top and narrow at the bottom.Feeding warehouse 14 is presented under width Narrow inverted trapezoidal structure, critical size and installation dimension draw according to general Pupa bombycis Size calculation, and Pupa bombycis can be made in motion Transmit zone face rubbing action under slowly fall on a moving belt, thus ensure Pupa bombycis on a moving belt without stack.
Preferably, described intelligence pick device 15 includes the vision for the Pupa bombycis on conveyer belt 10 carries out vision localization Positioner 16, the Pupa bombycis on conveyer belt 10 is picked up and regulates the Pupa bombycis mechanism for picking 19 in Pupa bombycis direction and drive described (XY straight line slipway mechanism 22 is the XY straight line slipway mechanism 22 that vision positioning device 16 and Pupa bombycis mechanism for picking 19 move Refer to be provided that in orthogonal both direction the frame for movement of linear motion.), described XY straight line slipway mechanism 22 is located at institute State on pedestal 1, described vision positioning device 16 and described Pupa bombycis mechanism for picking 19 be located on described XY straight line slipway mechanism 22 and Being positioned at the vertical top of described conveyer belt 10, described XY straight line slipway mechanism 22 drives described vision positioning device 16 and described silkworm Pupa mechanism for picking 19 at the conveying direction along described conveyer belt 10 and moves along the conveying direction of vertical described conveyer belt 10. Pupa bombycis can be positioned by arranging of vision positioning device 16;Pupa bombycis mechanism for picking 19 can realize to the Pupa bombycis on conveyer belt 10 It is picked up and regulates Pupa bombycis direction;XY straight line slipway mechanism 22 is used for driving described vision positioning device 16 and Pupa bombycis pickup Mechanism 19 moves.
Preferably, described XY straight line slipway mechanism 22 includes the first Y-axis slide rail the 23, second Y-axis slide rail 24 and X-axis slide rail 25, on the described pedestal 1 of the both sides that described first Y-axis slide rail 23 and described second Y-axis slide rail 24 are located at described conveyer belt 10, institute State the first Y-axis slide rail 23 and described second Y-axis slide rail 24 conveying direction all with described conveyer belt 10 to be arranged in parallel, described X-axis The two ends of slide rail 25 are separately fixed on described first Y-axis slide rail 23 on the slide unit slide block 26 arranged and described second Y-axis slide rail On the slide unit slide block 26 arranged on 24, described X-axis slide rail 25 hangs down with described first Y-axis slide rail 23 and described second Y-axis slide rail 24 Straight setting, described first Y-axis slide rail 23 is provided with the first screw mandrel 27 extended along described first Y-axis slide rail 23 length direction, institute Stating the slide unit slide block 26 on the first Y-axis slide rail 23 to be enclosed within described first screw mandrel 27, one end of described first Y-axis slide rail 23 is provided with For driving the first slide rail motor 28 of described first screw mandrel 27 axial rotation, the rotation of described first screw mandrel 27 drives described X Axle slide rail 25 moves back and forth along the length direction of described first Y-axis slide rail 23 and described second Y-axis slide rail 24, described X-axis slide rail 25 are provided with the second screw mandrel 29 extended along described X-axis slide rail 25 length direction, and one end of described X-axis slide rail 25 is provided with drive institute State the second slide rail motor 30 of the second screw mandrel 29 axial rotation, the slide unit slide block 26 on described X-axis slide rail 25 is fixed with fixing Link plate frame 31, the slide unit slide block 26 on described X-axis slide rail 25 is enclosed within described second screw mandrel 29, described vision positioning device 16 He Described Pupa bombycis mechanism for picking 19 is each attached on described fixing link plate frame 31, and the axial rotation of described second screw mandrel 29 drives described Vision positioning device 16 and described Pupa bombycis mechanism for picking 19 move back and forth along the length direction of described X-axis slide rail 25.By first Slide rail motor 28 drives the first screw mandrel 27 to rotate, thus drives X-axis slide rail 25 along the first Y-axis slide rail 23 and the second Y-axis slide rail 24 Length direction move, drive the second screw mandrel 29 to rotate by the second slide rail motor 30, thus realize drive vision positioning device 16 and Pupa bombycis mechanism for picking 19 along the moving back and forth of length direction of X-axis slide rail 25, thus realize vision positioning device 16 and silkworm Pupa mechanism for picking 19 is the movement of X, Y-direction above conveyer belt 10, convenient to the image recognition of Pupa bombycis on conveyer belt 10 and pickup.
Preferably, to include that camera 17 and annular light source 18, described camera 17 are fixed on described for described Pupa bombycis mechanism for picking 19 On fixing link plate frame 31, the camera lens of described camera 17 is towards described conveyer belt 10, and described annular light source 18 is with described camera 17 It is located at centered by camera lens on the camera lens of described camera 17.Preferably, used by vision positioning device 16, industrial camera 17 is million pictures Element industrial camera 17, and its field range is grade;The light source of institute's adapted is annular light source 18.The camera lens of camera 17 and annular Light source 18 axial line keeps conllinear, and camera 17 for carrying out imaging to Pupa bombycis, and light annular source provides the intensity of illumination needed for imaging.
Preferably, described Pupa bombycis mechanism for picking 19 includes that voice coil motor 20 and suction nozzle 21, described voice coil motor 20 are fixed on On described fixing link plate frame 31, described suction nozzle 21 is located on the output shaft of described voice coil motor 20, and described voice coil motor 20 drives Described suction nozzle 21 near and away from described conveyer belt 10.Using voice coil motor 20 to drive suction nozzle 21 hollow, suction nozzle 21 can use Rubber is made, and rubber suction nozzle 21 is fixed on voice coil motor 20 hollow projecting shaft by afterbody sleeve pipe, has been used for picking up of Pupa bombycis Taking, carry and pose adjustment, wherein carrying and the pose adjustment of Pupa bombycis can be carried out simultaneously, it is also possible to substep is carried out.
Preferably, as shown in Fig. 8, Fig. 9, Figure 10, Figure 11, described Pupa bombycis intelligent detection device 3 includes support 32, described Frame 32 is located on described pedestal 1, is positioned at the conveying tail end of described Pupa bombycis intelligence conveyer device 2;
Bar shaped bearing groove 33, described bar shaped bearing groove 33 is fixed on described support 32 by fixing bar, and described bar shaped is held Carry groove 33 to be obliquely installed, and described bar shaped bearing groove 33 is positioned at the high-end one end of level and is positioned at described Pupa bombycis intelligence conveyer device 2 Conveying tail end;
Vision inspection apparatus 34, described vision inspection apparatus 34 is located on described support 32, for carrying described bar shaped Pupa bombycis on groove 33 carries out image acquisition and gonad feature identification.
Preferably, described bar shaped bearing groove 33 is provided with photoelectric sensor 35, described photoelectric sensor 35 and described vision Detection device 34 circuit connects, and described vision inspection apparatus 34 is less than described light towards level height on described bar shaped bearing groove 33 The part of electric transducer 35, when described photoelectric sensor 35 senses that Pupa bombycis passes through, described vision inspection apparatus 34 is opened.? Arranging photoelectric sensor 35 on bar shaped bearing groove 33, when Pupa bombycis slides into the sensing position of described photoelectric sensor 35, vision is examined Survey device 34 to open, Pupa bombycis is carried out image acquisition and gonad feature identification, the time of image acquisition can be grasped exactly.
Preferably, described fixing bar includes that the length of hollow fixes the short fixing bar 37 of bar 36 and hollow, and described length fixes bar 36 are located at the described support 32 side near described Pupa bombycis intelligent detection device 3, and described short fixing bar 37 is located at described support 32 Away from the side of described Pupa bombycis intelligent detection device 3, described length is fixed the top of bar 36 and described short fixing bar 37 and is all inserted with Adjusting rod 38, described adjusting rod 38 is locked at described length by lock-screw 39 and fixes bar 36 and the top of described short fixing bar 37 Portion, the two ends of described bar shaped bearing groove 33 are fixed on the top of two described adjusting rods 38 respectively by spherical hinge structure 40.In All insert adjusting rod 38 in empty length fixes bar 36 and in the short fixing bar 37 of hollow, locked by lock-screw 39, by bar shaped The two ends of bearing groove 33 are separately fixed at the top of two adjusting rods 38, stretch out long fixing bar 36 and short by regulation adjusting rod 38 The length at fixing bar 37 top, it is achieved height and the regulation of gradient to bar shaped bearing groove 33.
Preferably, described bar shaped bearing groove 33 is in tilted layout horizontal by 15 ° of-25 ° of angles.Bar shaped bearing groove 33 and water Plane is that 15 ° of-25 ° of angles are in tilted layout, and is avoided that when inclination angle is excessive that Pupa bombycis sliding speed is too fast and affects image acquisition Quality, is avoided that again when inclination angle is too small, Pupa bombycis sliding speed is crossed slow and affected recognition rate.
Preferably, described bar shaped bearing groove 33 is transparent bearing groove, and the quantity of described vision inspection apparatus 34 is four, Four described vision inspection apparatus 34 are arranged in high degree of symmetry two-by-two about the axis of described bar shaped bearing groove 33, regard described in four Feel that detection device 34 is all towards same position on described bar shaped bearing groove 33.The setting of four vision inspection apparatus 34, fully examines The various location status residing for its gonad position when Pupa bombycis falls in detection platform are considered, it is ensured that can have a set of visual system all the time The gonad feature of Pupa bombycis can be adopted figure and identification, thus substantially increase feasibility and the accuracy rate of Pupa bombycis identification.
Preferably, the angle between the axis of described vision inspection apparatus 34 and described bar shaped bearing groove 33 is 10 °-20 °. Four visual systemes relative to glass bearing groove axis be 10 °-20 ° and two-by-two high degree of symmetry arrange, compact conformation, it is ensured that can be respectively In the case of Zhong, figure is accurately adopted at Pupa bombycis gonad position, improve the accuracy rate of identification.
Preferably, described vision inspection apparatus 34 includes that camera 17 and light source, camera 17 use the work of more than mega pixel Industry camera 17, and its field range is grade;The light source of institute's adapted is annular light source 18.
Preferably, described support 32 is provided with two fixed frames 41, and described bar shaped bearing groove 33 is described fixing through two Frame 41, described vision inspection apparatus 34 is located at top and the bottom of the inner side of two described fixed frames 41.
Preferably, two relative sides of described fixed frame 41 are fixed on described support 32 by rotating disk 42, institute State fixed frame 41 to rotate by line centered by the line of two described rotating disks 42.Facilitate the regulation of vision inspection apparatus 34, The test point of vision inspection apparatus 34 can be regulated according to the inclination angle of bar shaped bearing groove 33.
Preferably, as shown in Figure 12, Figure 13, Figure 14, Figure 15, described Pupa bombycis intelligence material collecting device 4 includes electric machine support 43, Described electric machine support 43 is fixed on described pedestal 1;
Splitter box 44, described splitter box 44 is fixed on the top of described electric machine support 43, and described splitter box 44 is located at described The vertical lower section of the horizontal low side of bar shaped bearing groove 33;
Rotary electric machine 45, described rotary electric machine 45 is fixed on described electric machine support 43, is positioned at described splitter box 44 times Side, the output shaft of described rotary electric machine 45 is upward through and stretches out the middle part of described splitter box 44;
Gathering sill 46, described gathering sill 46 is located on the groove face of described splitter box 44, and described gathering sill 46 is along described shunting Described splitter box 44 is separated into two passages by the length direction of groove 44, and two described passages lay respectively at described gathering sill 46 Both sides, the bottom of described gathering sill 46 is fixing with the output shaft of described rotary electric machine 45 to be connected, and described rotary electric machine 45 drives institute State gathering sill 46 to rotate centered by the output shaft of described rotary electric machine 45.
Motor 11 is driven to select easily controllable motor, the identification knot of its rotation status Pupa bombycis intelligent detection device 3 Fruit control, and then drive gathering sill 46 is suitable, rotate counterclockwise or do not rotate formation three Pupa bombycis passages, respectively to female, male silkworm Pupa and gonad feature are destroyed and the Pupa bombycis of None-identified carries out separating rewinding.
The invention also discloses a kind of Pupa bombycis intelligent identification Method, use Pupa bombycis intelligent identification equipment described above to carry out silkworm The identification of pupa, comprises the following steps: step one, opens and drives motor 11, makes conveyer belt 10 operate with setting speed;
Step 2, pours into batch Pupa bombycis in feeding warehouse 14, Pupa bombycis dredging without stackably falling to defeated through feeding warehouse 14 Sending on band 10, Pupa bombycis tiling thereon and travels forward by predetermined speed with described conveyer belt 10;
Step 3, is used in blob analyzing and positioning Pupa bombycis the Pupa bombycis on conveyer belt 10 by described vision positioning device 16 The heart, and calculate the Pupa bombycis cephalocaudal direction angle relative to Y-direction;
Step 4, starts XY straight line slipway mechanism 22 so that XY straight line slipway mechanism 22 drives described voice coil motor 20 to move Moving the vertical top of Pupa bombycis, start described voice coil motor 20, the output shaft of described voice coil motor 20 extend out to suction nozzle 21 and holds Pupa bombycis, the output shaft retraction of the most described voice coil motor 20, then the output shaft axial rotation of voice coil motor 20 makes Pupa bombycis The first direction is identical with Y-direction;
Step 5, XY straight line slipway mechanism 22 drives high-end the erecting of level of described voice coil motor 20 to bar shaped bearing groove 33 Straight top, the output shaft of described voice coil motor 20 stretches out, and described suction nozzle 21 discharges Pupa bombycis, discharges Pupa bombycis to bar shaped bearing groove 33 On;
Step 6, Pupa bombycis is under gravity along the downward landing of bar shaped bearing groove 33, when Pupa bombycis is through vision inspection apparatus When 34, photoelectric sensor 35 detects the position of Pupa bombycis and sends feedback information, automatically triggers vision inspection apparatus 34 to Pupa bombycis Carry out Cai Tu and gonad feature identification;
Step 7, rotary electric machine 45 drives gathering sill according to vision inspection apparatus 34 to the recognition result of Pupa bombycis gonad feature 46 rotate clockwise or rotate counterclockwise or be motionless, thus form three different Pupa bombycis passages, it is achieved to male silkworm pupa, female Pupa bombycis With the classification collecting of Unidentified Pupa bombycis, complete the rewinding to different sexes Pupa bombycis.
Operation principle: first, sets the rotating speed of conveyer belt apparatus 6, pours batch Pupa bombycis into feeding warehouse according to job demand 14, dredge Pupa bombycis without stackably falling on a moving belt and transporting forward by certain speed with conveyer belt through the thin cervical region of feeding warehouse 14 Dynamic, meanwhile, vision system positioner uses blob analyzing and positioning Pupa bombycis center to the Pupa bombycis on conveyer belt, and calculates The Pupa bombycis cephalocaudal direction, relative to the angle of Y-direction (the Pupa bombycis direction of motion), calls X the next to the motion of, Y-direction and voice coil motor 20 afterwards Machine program, makes voice coil motor 20XY straight line slipway mechanism 22 move to directly over Pupa bombycis, and then voice coil motor 20 axle carries out Z-direction fortune Dynamic, drive suction nozzle 21 to reach Pupa bombycis build height, rubber suction nozzle 21 holds Pupa bombycis, voice coil motor 20 under vac sorb effect Axle is retracted into proper height, and voice coil motor 20 axle carries out rotation according to Pupa bombycis cephalocaudal direction angle makes the Pupa bombycis cephalocaudal direction lucky Identical with Y-direction.
Then, when voice coil motor 20 is moved to directly over bar shaped bearing groove 33 by XY straight line slipway mechanism 22, voice coil loudspeaker voice coil electricity Machine 20 axially downwardly extending go out and discharge Pupa bombycis enter bar shaped bearing groove 33, Pupa bombycis under gravity along bar shaped bearing groove 33 to downslide Falling, when Pupa bombycis enters vision inspection apparatus 34 areas imaging, the photoelectric sensor 35 on bar shaped bearing groove 33 detects Pupa bombycis Position and send feedback information, automatically trigger corresponding vision inspection apparatus 34 and it carried out Cai Tu and gonad feature identification.
Finally, the rotary electric machine 45 according to the recognition result control Pupa bombycis intelligence material collecting device 4 to Pupa bombycis gonad feature is suitable Hour hands rotate, rotate counterclockwise or motionless, and gathering sill 46 rotation clockwise in splitter box 44, counterclockwise or gathering sill 46 are not Rotate, thus form three different Pupa bombycis passages, i.e. gathering sill 46 does not rotates, and Pupa bombycis directly falls from bar shaped bearing groove 33 To gathering sill 46, collect male silkworm pupa;Gathering sill 46 is to rotating clockwise, and Pupa bombycis falls into gathering sill 46 left side from glass guide channel and leads to Road, collects female Pupa bombycis;Gathering sill 46 rotates counterclockwise, and Pupa bombycis falls into gathering sill 46 right-side channels, collects Unidentified Pupa bombycis.Extremely This, complete the Intelligent Recognition to different sexes Pupa bombycis and rewinding.
According to the apparatus and method for Pupa bombycis Intelligent Recognition of the present invention, compared with prior art, mainly possess following Technological merit;
1. by increasing special feeding warehouse 14 and intelligence pick device 15 on the basis of traditional conveyer belt apparatus 6, in inspection Before surveying work, the attitude to Pupa bombycis has carried out corresponding adjustment, improves motility and the adaptability of Pupa bombycis conveying, for follow-up Detection work is provided convenience;
2., by arranging four set visual systemes and it being carried out reasonable Arrangement, taken into full account that Pupa bombycis falls in detection platform Various location status residing for its gonad position time upper, it is ensured that a set of visual system can be had all the time the gonad feature of Pupa bombycis to be adopted Figure and identification, thus substantially increase feasibility and the accuracy rate of Pupa bombycis identification;
3. the different rotary state utilizing gathering sill 46 forms three different Pupa bombycis passages, and method is novel, machinery knot Structure is the compactest, feasibility and good economy performance.
Overall identification device for mechanical is simple and compact for structure, it is simple to operation, it is possible to realize the transport of Pupa bombycis in an orderly manner, detection is known Not working with separation rewinding, therefore the identification field at Pupa bombycis possesses the prospect of being widely applied.
The foregoing is only presently preferred embodiments of the present invention, not in order to limit the present invention, all spirit in the present invention and Within principle, any modification, equivalent substitution and improvement etc. made, should be included within the scope of the present invention.

Claims (10)

1. a Pupa bombycis intelligent identification equipment, it is characterised in that include pedestal (1),
Pupa bombycis intelligence conveyer device (2), is located on described pedestal (1), is used for driving Pupa bombycis to advance by given speed, and to Pupa bombycis After carrying out positioning, pick up and regulate the posture of Pupa bombycis, Pupa bombycis is transported to Pupa bombycis intelligent detection device (3);
Pupa bombycis intelligent detection device (3), is located on described pedestal (1), is positioned at the conveying tail of described Pupa bombycis intelligence conveyer device (2) End, is used for receiving the Pupa bombycis that described Pupa bombycis intelligence conveyer device (2) carries, and Pupa bombycis is carried out image acquisition, and to Pupa bombycis Gonad feature is identified;
Pupa bombycis intelligence material collecting device (4), is located on described pedestal (1), is positioned at the side of described Pupa bombycis intelligent detection device (3), uses In carrying out separating rewinding to the Pupa bombycis after identifying.
A kind of Pupa bombycis intelligent identification equipment the most according to claim 1, it is characterised in that described Pupa bombycis intelligence conveyer device (2) include
Supporting station (5), described supporting station (5) is located at the upper surface of described pedestal (1);
Conveyer belt apparatus (6), described conveyer belt apparatus (6) is located on described supporting station (5), is used for driving Pupa bombycis by given speed Advance;
Feed arrangement (12), described feed arrangement (12) is located on described conveyer belt apparatus (6), is positioned at described conveyer belt apparatus (6) the vertical top of initiating terminal, is used for guiding described Pupa bombycis without stackably dropping into described conveyer belt apparatus (6);
Intelligence pick device (15), described intelligence pick device (15) is located on described supporting station (5), and it is positioned at described conveyer belt The vertical top of device (6), for the Pupa bombycis on conveyer belt apparatus (6) being positioned, pick up and is regulated the posture of Pupa bombycis, and Pupa bombycis is transported to described Pupa bombycis intelligence material collecting device (4).
A kind of Pupa bombycis intelligent identification equipment the most according to claim 2, it is characterised in that described intelligence pick device (15) Including the vision positioning device (16) for the Pupa bombycis on conveyer belt (10) being carried out vision localization, to the silkworm on conveyer belt (10) Pupa is picked up and regulates the Pupa bombycis mechanism for picking (19) in Pupa bombycis direction and drive described vision positioning device (16) and Pupa bombycis XY straight line slipway mechanism (22) that mechanism for picking (19) moves, described XY straight line slipway mechanism (22) is located at described supporting station (5) on, described vision positioning device (16) and described Pupa bombycis mechanism for picking (19) be located at described XY straight line slipway mechanism (22) upper, And it being positioned at the vertical top of described conveyer belt (10), described XY straight line slipway mechanism (22) drives described vision positioning device (16) With described Pupa bombycis mechanism for picking (19) at the conveying direction along described conveyer belt (10) and along vertical described conveyer belt (10) Move on conveying direction.
A kind of Pupa bombycis intelligent identification equipment the most according to claim 3, it is characterised in that described XY straight line slipway mechanism (22) the first Y-axis slide rail (23), the second Y-axis slide rail (24) and X-axis slide rail (25) are included,
Described first Y-axis slide rail (23) and described second Y-axis slide rail (24) are located at described of the both sides of described conveyer belt (10) On cushion cap (5), described first Y-axis slide rail (23) and described second Y-axis slide rail (24) all with the conveying side of described conveyer belt (10) To be arrangeding in parallel, the two ends of described X-axis slide rail (25) are separately fixed at the upper slide unit slide block arranged of described first Y-axis slide rail (23) (26) on the slide unit slide block (26) that upper and described second Y-axis slide rail (24) is above arranged, described X-axis slide rail (25) and a described Y Axle slide rail (23) and described second Y-axis slide rail (24) are vertically arranged;
Described first Y-axis slide rail (23) is provided with the first screw mandrel (27) extended along described first Y-axis slide rail (23) length direction, Slide unit slide block (26) on described first Y-axis slide rail (23) is enclosed within described first screw mandrel (27), described first Y-axis slide rail (23) One end be provided with the first slide rail motor (28) for driving described first screw mandrel (27) axial rotation, described first screw mandrel (27) Rotation drive described X-axis slide rail (25) along described first Y-axis slide rail (23) and the length direction of described second Y-axis slide rail (24) Move back and forth;
Described X-axis slide rail (25) is provided with the second screw mandrel (29) extended along described X-axis slide rail (25) length direction, described X-axis One end of slide rail (25) is provided with the second slide rail motor (30) driving described second screw mandrel (29) axial rotation, described X-axis slide rail (25) fixing link plate frame (31) it is fixed with on the slide unit slide block (26) on, slide unit slide block (26) set on described X-axis slide rail (25) On described second screw mandrel (29), described vision positioning device (16) and described Pupa bombycis mechanism for picking (19) are each attached to described solid Determining on link plate frame (31), the axial rotation of described second screw mandrel (29) drives described vision positioning device (16) and described Pupa bombycis to pick up Take mechanism (19) to move back and forth along the length direction of described X-axis slide rail (25).
A kind of Pupa bombycis intelligent identification equipment the most according to claim 3, it is characterised in that described Pupa bombycis mechanism for picking (19) Including voice coil motor (20) and suction nozzle (21), described voice coil motor (20) is fixed on described fixing link plate frame (31), described suction Mouth (21) is located on the output shaft of described voice coil motor (20), and described voice coil motor (20) drives described suction nozzle (21) by near and far From described conveyer belt (10).
6. according to a kind of Pupa bombycis intelligent identification equipment described in any one of claim 1 to 5, it is characterised in that described Pupa bombycis intelligence Device (3) can be detected and include that support (32), described support (32) are located on described pedestal (1), be positioned at the conveying of described Pupa bombycis intelligence The conveying tail end of device (2);
Bar shaped bearing groove (33), described bar shaped bearing groove (33) is fixed on described support (32) by fixing bar, described bar shaped Bearing groove (33) is obliquely installed, and described bar shaped bearing groove (33) is positioned at the high-end one end of level and is positioned at the conveying of described Pupa bombycis intelligence The conveying tail end of device (2);
Vision inspection apparatus (34), described vision inspection apparatus (34) is located on described support (32), for holding described bar shaped The Pupa bombycis carried on groove (33) carries out image acquisition and gonad feature identification.
A kind of Pupa bombycis intelligent identification equipment the most according to claim 6, it is characterised in that on described bar shaped bearing groove (33) Being provided with photoelectric sensor (35), described photoelectric sensor (35) is connected with described vision inspection apparatus (34) circuit, described vision Detection device (34) less than the part of described photoelectric sensor (35), works as institute towards the upper level height of described bar shaped bearing groove (33) Stating photoelectric sensor (35) and sense when Pupa bombycis passes through, described vision inspection apparatus (34) is opened.
A kind of Pupa bombycis intelligent identification equipment the most according to claim 7, it is characterised in that described fixing bar includes hollow Long fixing bar (36) and the short fixing bar (37) of hollow, described length is fixed bar (36) and is located at described support (32) near described Pupa bombycis The side of intelligent detection device (3), described short fixing bar (37) is located at described support (32) and fills away from described Pupa bombycis Intelligent Measurement Putting the side of (3), described length is fixed the top of bar (36) and described short fixing bar (37) and is all inserted with adjusting rod (38), described tune Pole (38) is locked at described length by lock-screw (39) and fixes bar (36) and the top of described short fixing bar (37), described bar The two ends of shape bearing groove (33) are fixed on the top of two described adjusting rods (38) respectively by spherical hinge structure (40).
9. a Pupa bombycis intelligent identification Method, it is characterised in that use the Pupa bombycis intelligence described in any one of the claims 1 to 8 Can identify that equipment carries out the identification of Pupa bombycis, comprise the following steps:
Step one, Pupa bombycis intelligence conveyer device (2) drive Pupa bombycis press given speed advance, and Pupa bombycis is positioned, pick up with And after the posture of regulation Pupa bombycis, Pupa bombycis is transported to Pupa bombycis intelligent detection device (3);
Step 2, Pupa bombycis intelligent detection device (3) receives the Pupa bombycis that described Pupa bombycis intelligence conveyer device (2) carries, and to Pupa bombycis Carry out image acquisition, and the gonad feature of Pupa bombycis is identified;
Step 3, the Pupa bombycis after identifying is carried out separating rewinding by Pupa bombycis intelligence material collecting device (4).
A kind of Pupa bombycis intelligent identification Method, it is characterised in that comprise the following steps:
Step one, opens conveyer belt apparatus (6), is poured into by batch Pupa bombycis in feed arrangement (12), and Pupa bombycis is through feed arrangement (12) nothing of dredging stackably falls on conveyer belt apparatus (6), and Pupa bombycis tiling is thereon and with described conveyer belt apparatus (6) by pre- Constant speed degree travels forward;
Step 2, uses blob analyzing and positioning silkworm by described vision positioning device (16) to the Pupa bombycis on conveyer belt apparatus (6) Pupa center, and calculate the Pupa bombycis cephalocaudal direction angle relative to Y-direction;
Step 3, starts XY straight line slipway mechanism (22) so that XY straight line slipway mechanism (22) drives described voice coil motor (20) Moving to the vertical top of Pupa bombycis, start described voice coil motor (20), the output shaft of described voice coil motor (20) extend out to suction nozzle (21) holding Pupa bombycis, the output shaft of the most described voice coil motor (20) is retracted, and then the output shaft of voice coil motor (20) axially turns The dynamic the first direction making Pupa bombycis is identical with Y-direction;
Step 4, XY straight line slipway mechanism (22) drives described voice coil motor (20) high-end to the level of bar shaped bearing groove (33) Vertically top, the output shaft of described voice coil motor (20) stretches out, described suction nozzle (21) release Pupa bombycis, Pupa bombycis release is held to bar shaped Carry on groove (33);
Step 5, Pupa bombycis is under gravity along bar shaped bearing groove (33) landing downwards, when Pupa bombycis is through vision inspection apparatus (34) time, photoelectric sensor (35) detects the position of Pupa bombycis and sends feedback information, automatically triggers vision inspection apparatus (34) Pupa bombycis is carried out Cai Tu and gonad feature identification;
Step 6, Pupa bombycis intelligence material collecting device (4) is according to the vision inspection apparatus (34) recognition result pair to Pupa bombycis gonad feature Male silkworm pupa, female Pupa bombycis and the classification collecting of Unidentified Pupa bombycis, complete the rewinding to different sexes Pupa bombycis.
CN201610361372.6A 2016-05-26 2016-05-26 A kind of silkworm chrysalis intelligent identification equipment and silkworm chrysalis intelligent identification Method Expired - Fee Related CN106040609B (en)

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CN111344073A (en) * 2018-05-16 2020-06-26 深圳蓝胖子机器人有限公司 Buffer memory device, goods sorting device and goods sorting system
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CN106984558A (en) * 2017-05-08 2017-07-28 中国计量大学 Full-automatic male and female silkworm chrysalis separator
CN108526042A (en) * 2017-05-08 2018-09-14 中国计量大学 A kind of male and female silkworm chrysalis automatic sorting method
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CN111344073A (en) * 2018-05-16 2020-06-26 深圳蓝胖子机器人有限公司 Buffer memory device, goods sorting device and goods sorting system
CN110918501A (en) * 2019-11-24 2020-03-27 郑州大学 Intelligent fruit optimization device and detection method
CN111701890A (en) * 2020-07-14 2020-09-25 苏州鼎纳自动化技术有限公司 Mobile testing mechanism of color difference meter
CN111701890B (en) * 2020-07-14 2021-10-12 苏州鼎纳自动化技术有限公司 Mobile testing mechanism of color difference meter
CN113083729A (en) * 2021-05-08 2021-07-09 江苏泗阳协力轻工机械有限公司 Bottle inspection stacking equipment and control system thereof
CN113083729B (en) * 2021-05-08 2021-12-14 江苏泗阳协力轻工机械有限公司 Bottle inspection stacking equipment and control system thereof

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