CN106040609B - A kind of silkworm chrysalis intelligent identification equipment and silkworm chrysalis intelligent identification Method - Google Patents

Abstract

The invention belongs to the technical field of identification of female and male silkworm chrysalis in the sericulture industry, and more specifically relates to a silkworm chrysalis intelligent identification device and method, including a base, a silkworm chrysalis intelligent conveying device, a silkworm chrysalis intelligent detection device and a silkworm chrysalis intelligent receiving device. The conveying device is set on the base to drive the silkworm chrysalis forward at a given speed, and to locate, pick up and adjust the posture of the silkworm chrysalis; the intelligent detection of silkworm chrysalis is located at the end of the conveying end of the silkworm chrysalis intelligent conveying device, which is used to image the silkworm chrysalis Collect and identify the gonad characteristics of silkworm chrysalis; the silkworm chrysalis intelligent receiving device is located next to the silkworm chrysalis intelligent detection device, and is used to separate and collect the identified silkworm chrysalis. The overall conveying device of the present invention has a compact structure, adopts machine vision technology, is convenient to be controlled by software, can realize the transfer and posture adjustment of silkworm chrysalis at the same time, and can effectively improve the accuracy of subsequent intelligent recognition of silkworm chrysalis, so it has a wide range of applications in the fields of intelligent transportation of silkworm chrysalis. Application prospects.

Description

Silkworm chrysalis intelligent identification device and silkworm chrysalis intelligent identification method

technical field

The invention belongs to the technical field of identification of female and male silkworm chrysalis in the sericulture industry, and more specifically relates to an intelligent identification device for silkworm chrysalis and an intelligent identification method for silkworm chrysalis.

Background technique

my country is a large agricultural country, and sericulture has always been an important part of my country's agriculture. Silkworm breeding is a key link in silkworm breeding, and the separation of male and female silkworm chrysalis determines the quality of silkworm breeding. At present, the separation of male and female silkworm chrysalis relies on workers to observe the characteristics of gonads at the tail of silkworm chrysalis through eyes, and then rely on experience to judge. This traditional method has problems such as low efficiency, low accuracy, and high labor intensity, which no longer meets the needs of agricultural modernization. . With the advancement of agricultural modernization, more and more attention has been paid to effectively improving the automation level of sericulture. The breeding of silkworms is a key link in silkworm breeding, and the separation of male and female silkworm chrysalis determines the quality of silkworm breeding. At present, the separation of male and female silkworm chrysalis is done manually, and correspondingly, the transportation of silkworm chrysalis is also done manually. However, this method has problems such as low efficiency, low accuracy, and high labor intensity, which no longer meets the needs of modern agricultural development. In view of this situation, many related persons try to automatically separate silkworm chrysalis by detecting the relevant characteristics of silkworm chrysalis, for example, by analyzing the difference in the near-infrared spectra of male and female silkworm chrysalis, and using machine vision to detect the difference in silkworm chrysalis shape and tail texture information. Realize the automatic separation of silkworm chrysalis, but these methods only use the traditional conveyor belt to transport the silkworm chrysalis, without considering the stacking and various postures of the silkworm chrysalis when they land on the conveyor belt, because the detection system is fixed, follow-up. It is difficult to detect the corresponding characteristics of silkworm chrysalis, so the accuracy of the separation of male and female silkworm chrysalis is low, and it is difficult to be widely used in actual production. At present, there is no case of successful development of corresponding equipment. Therefore, there are high-intelligence, Strong technical requirements for intelligent conveying devices with high accuracy.

Contents of the invention

The technical problem to be solved by the present invention is aimed at the above defects or technical requirements of the prior art. The purpose of the present invention is to provide an intelligent identification device and method for silkworm chrysalis, which directly collects and identifies the characteristics of silkworm chrysalis gonads through a machine vision system. The method is used to separate male and female silkworm chrysalis, and an intelligent delivery module is added before the detection module to adjust the posture of the silkworm chrysalis, so that the visual system can capture and identify the characteristics of the silkworm chrysalis gonads, and the detection module is equipped with a receiving module to further complete the recognition The final separation and collection of silkworm chrysalis makes it a complete set of equipment, which can greatly improve the efficiency and accuracy of silkworm chrysalis separation.

The technical scheme of the present invention to solve the above-mentioned technical problems is as follows: a silkworm chrysalis intelligent identification device, comprising a base,

The silkworm chrysalis intelligent conveying device is arranged on the base, and is used to drive the silkworm chrysalis to move forward at a given speed, and after positioning, picking up and adjusting the posture of the silkworm chrysalis, the silkworm chrysalis is transported to the silkworm chrysalis intelligent detection device;

The silkworm chrysalis intelligent detection device is arranged on the base and is located at the delivery tail end of the silkworm chrysalis intelligent delivery device, and is used to receive the silkworm chrysalis delivered by the silkworm chrysalis intelligent delivery device, and to collect images of the silkworm chrysalis, and to analyze the gonad characteristics of the silkworm chrysalis identify;

The silkworm chrysalis intelligent receiving device is arranged on the base, beside the silkworm chrysalis intelligent detection device, and is used for separating and collecting the identified silkworm chrysalis.

The beneficial effects of the present invention are: the silkworm chrysalis intelligent conveying device in the equipment of the present invention can realize the orderly and intelligent transportation of the silkworm chrysalis in the intelligent identification process, adjust the posture of the silkworm chrysalis before detection, and facilitate the improvement of the efficiency and accuracy of subsequent identification work; The silkworm chrysalis intelligent detection device can accurately identify the gonad characteristics of silkworm chrysalis by collecting and identifying the gonad characteristics of silkworm chrysalis; the silkworm chrysalis intelligent receiving device can separate and collect the identified silkworm chrysalis; the overall conveying device is compact in structure and adopts machine vision The technology is easy to be controlled by software, and can realize the transfer and posture adjustment of silkworm chrysalis at the same time, which can effectively improve the accuracy of subsequent intelligent recognition of silkworm chrysalis, so it has broad application prospects in the fields of silkworm chrysalis intelligent transportation.

On the basis of the above technical solutions, the present invention can also be improved as follows.

Further, the silkworm chrysalis intelligent conveying device includes

a supporting platform, the supporting platform is arranged on the upper surface of the base;

Conveyor belt device, the conveyor belt device is arranged on the support platform, and is used to drive silkworm chrysalis to advance at a given speed;

Feeding device, the feeding device is arranged on the conveyor belt device, located vertically above the starting end of the conveyor belt device, for guiding the silkworm chrysalis to fall onto the conveyor belt device without stacking ;

Intelligent pick-up device, the intelligent pick-up device is arranged on the support table, it is positioned at the vertical top of the conveyor belt device, and is used for positioning, picking up and adjusting the posture of the silkworm chrysalis on the conveyor belt device, and The silkworm chrysalis is transported to the described silkworm chrysalis intelligent detection device.

The further beneficial effect of adopting the above is that the silkworm chrysalis intelligent conveying device can realize the orderly and intelligent transportation of silkworm chrysalis in the process of intelligent identification, adjust the posture of silkworm chrysalis before detection, and facilitate the improvement of the efficiency and accuracy of subsequent identification work.

Further, the conveyor belt device includes a conveyor belt bracket, a driving wheel, a driven wheel, a conveyor belt and a driving motor, the conveyor belt bracket is fixed on the base, and the driving wheel and the driven wheel can be axially Rotation is fixed on both ends of the conveyor belt bracket, the conveyor belt is sleeved on the driving wheel and the driven wheel, the driving motor is fixed on the conveyor belt bracket, and the output of the driving motor The end is fixedly connected with the driving wheel, and the driving motor drives the driving wheel to rotate axially, thereby driving the conveyor belt to advance at a given speed.

The beneficial effect of adopting the above further solution is: the conveying device includes a driving wheel controlled by a driving motor, and the belt is driven to run under the cooperation of the driving wheel and the driven wheel, and the conveying rate can be adjusted by adjusting the rotating speed of the driving motor.

Further, the feeding device includes a feeding support frame and a feeding bin, the feeding supporting frame is fixed at one end of the conveyor belt bracket, and the feeding bin is fixed on the feeding supporting frame and located at Vertically above the conveyor belt.

The beneficial effect of adopting the above further scheme is that the setting of the feeding bin can realize uniform feeding and avoid stacking of silkworm chrysalis on the conveyor belt.

Further, the feed bin is in an inverted trapezoidal structure with a wide top and a narrow bottom.

The beneficial effect of adopting the above-mentioned further scheme is that the feeding bin is an inverted trapezoidal structure with a wide top and a narrow bottom. The key dimensions and installation dimensions are calculated based on the size of the general silkworm chrysalis, which can make the silkworm chrysalis slowly move under the friction of the moving conveyor belt surface. Fall on the conveyor belt, thereby ensuring that the silkworm chrysalis is not stacked on the conveyor belt.

Further, the intelligent picking device includes a visual positioning device for visually locating the silkworm chrysalis on the conveyor belt, a silkworm chrysalis picking mechanism for picking up the silkworm chrysalis on the conveyor belt and adjusting the direction of the silkworm chrysalis, and driving the visual positioning device and the silkworm chrysalis picking up The XY linear slide mechanism that the mechanism moves (the XY linear slide mechanism refers to a mechanical structure that can provide linear motion in two directions perpendicular to each other.), the XY linear slide mechanism is arranged on the base, The visual positioning device and the silkworm chrysalis picking mechanism are arranged on the XY linear slide mechanism and are located vertically above the conveyor belt, and the XY linear slide mechanism drives the visual positioning device and the silkworm chrysalis The pick-up mechanism moves along the conveying direction of the conveying belt and along the conveying direction perpendicular to the conveying belt.

The beneficial effect of adopting the above-mentioned further scheme is: the setting of the visual positioning device can locate the silkworm chrysalis; the silkworm chrysalis picking mechanism can realize picking up the silkworm chrysalis on the conveyor belt and adjust the direction of the silkworm chrysalis; the XY linear slide mechanism is used to drive the visual The positioning device and the silkworm chrysalis pick-up mechanism move.

Further, the XY linear slide mechanism includes a first Y-axis slide rail, a second Y-axis slide rail and an X-axis slide rail, and the first Y-axis slide rail and the second Y-axis slide rail are arranged on the On the bases on both sides of the conveyor belt, the first Y-axis slide rail and the second Y-axis slide rail are arranged parallel to the conveying direction of the conveyor belt, and the two ends of the X-axis slide rail respectively fixed on the slide block provided on the first Y-axis slide rail and on the slide table slide block provided on the second Y-axis slide rail, the X-axis slide rail and the first Y-axis slide rail The slide rail and the second Y-axis slide rail are vertically arranged, and the first Y-axis slide rail is provided with a first screw rod extending along the length direction of the first Y-axis slide rail, and the first Y-axis slide rail The slide block on the rail is sleeved on the first screw rod, and one end of the first Y-axis slide rail is provided with a first slide motor for driving the first screw rod to rotate axially. The rotation of the screw drives the X-axis slide rail to move back and forth along the length direction of the first Y-axis slide rail and the second Y-axis slide rail, and the X-axis slide rail is provided with a The second screw rod extending in the length direction of the slide rail, one end of the X-axis slide rail is provided with a second slide rail motor that drives the second screw rod to rotate axially, and the slider on the X-axis slide rail A fixed hanging board frame is fixed on the top, the slide block on the X-axis slide rail is set on the second screw rod, the visual positioning device and the silkworm chrysalis picking mechanism are fixed on the fixed hanging board frame Above, the axial rotation of the second screw rod drives the visual positioning device and the silkworm chrysalis picking mechanism to move back and forth along the length direction of the X-axis slide rail.

The beneficial effect of adopting the above further scheme is: the first screw rod is driven to rotate by the first slide rail motor, thereby driving the X-axis slide rail to move along the length direction of the first Y-axis slide rail and the second Y-axis slide rail, The slide rail motor drives the second screw to rotate, thereby realizing the movement of the visual positioning device and the silkworm chrysalis picking mechanism along the length direction of the X-axis slide rail, thereby realizing the positioning of the visual positioning device and the silkworm chrysalis picking mechanism in the X and Y directions above the conveyor belt. Mobile, convenient for image recognition and picking of silkworm chrysalis on the conveyor belt.

Further, the silkworm chrysalis picking mechanism includes a camera and a ring light source, the camera is fixed on the fixed hanging board frame, the lens of the camera faces the conveyor belt, and the ring light source is set around the lens of the camera. on the lens of said camera. Preferably, the industrial camera used by the visual positioning device is a megapixel industrial camera, and its field of view is at the millimeter level; the light source used is a ring light source.

The beneficial effect of adopting the above further scheme is that: the lens of the camera and the axis line of the ring light source are collinear, the camera is used to image the silkworm chrysalis, and the ring light source provides the light intensity required for imaging.

Further, the silkworm chrysalis picking-up mechanism includes a voice coil motor (the so-called voice coil motor gets its name because its structure is similar to the voice coil of a loudspeaker, and has the characteristics of high frequency response and high precision.) and a suction nozzle, and the voice coil motor is fixed On the fixed hanging board frame, the suction nozzle is arranged on the output shaft of the voice coil motor, and the voice coil motor drives the suction nozzle close to and away from the conveyor belt.

The beneficial effect of adopting the above-mentioned further scheme is: the voice coil motor is used to drive the suction nozzle to be hollow, and the suction nozzle can be made of rubber, and the rubber suction nozzle is fixed on the hollow extension shaft of the voice coil motor through the tail sleeve to complete the silkworm chrysalis. Picking, carrying and attitude adjustment, wherein the handling and attitude adjustment of silkworm chrysalis can be carried out simultaneously or step by step.

Further, the silkworm chrysalis intelligent detection device includes a support, and the support is arranged on the base and located at the delivery tail end of the silkworm chrysalis intelligent delivery device;

A strip-shaped bearing tank, the strip-shaped bearing tank is fixed on the bracket through a fixing rod, the strip-shaped bearing tank is arranged obliquely, and one end of the strip-shaped bearing tank located at the horizontal high end is located at the end of the silkworm chrysalis intelligent conveying device delivery end;

A visual detection device, the visual detection device is arranged on the bracket, and is used for image collection and gonad feature recognition of silkworm chrysalis on the strip-shaped bearing tank.

The further beneficial effect of adopting the above is that the silkworm chrysalis slides along the inclined bar-shaped bearing groove under the action of its own gravity, and when the silkworm chrysalis slides to the position detected by the visual detection device, the visual detection device performs image collection and gonad feature recognition of the silkworm chrysalis , to determine the male and female status of silkworm chrysalis.

Further, a photoelectric sensor is provided on the strip-shaped bearing groove, and the photoelectric sensor is connected to the circuit of the visual detection device, and the visual detection device faces the part of the strip-shaped bearing groove whose horizontal height is lower than that of the photoelectric sensor , when the photoelectric sensor senses that the silkworm chrysalis passes, the visual detection device is turned on.

The further beneficial effects of adopting the above are: a photoelectric sensor is arranged on the bar-shaped bearing tank, and when the silkworm chrysalis slides to the sensing part of the photoelectric sensor, the visual detection device is turned on, and the image acquisition and gonad feature recognition of the silkworm chrysalis can be accurately grasped. The time of image acquisition.

Further, the fixed rod includes a hollow long fixed rod and a hollow short fixed rod, the long fixed rod is arranged on the side of the bracket close to the silkworm chrysalis intelligent detection device, and the short fixed rod is arranged on the side of the bracket On the side away from the silkworm chrysalis intelligent detection device, an adjustment rod is inserted on the top of the long fixed rod and the short fixed rod, and the adjusted rod is locked on the long fixed rod and the short fixed rod by locking screws. The top of the short fixing rod, the two ends of the bar-shaped bearing groove are respectively fixed on the tops of the two adjusting rods through a ball joint structure.

The further beneficial effect of adopting the above is that the adjusting rods are inserted into the hollow long fixing rods and the hollow short fixing rods, and the two ends of the bar-shaped bearing groove are respectively fixed on the two adjusting rods by locking the locking screws. At the top, the adjustment of the height and inclination of the bar-shaped bearing groove is realized by adjusting the length of the adjusting rod stretching out from the top of the long fixing rod and the short fixing rod.

Further, the strip-shaped bearing grooves are inclined at an angle of 15°-25° to the horizontal plane.

The further beneficial effects of adopting the above are: the bar-shaped bearing groove and the horizontal plane are inclined at an angle of 15°-25°, which can prevent the silkworm chrysalis from sliding too fast when the inclination angle is too large and affect the quality of image acquisition, and can also avoid excessive inclination angle. Hour silkworm chrysalis sliding speed is too slow to affect the recognition rate.

Further, the strip-shaped bearing groove is a transparent bearing groove, the number of the visual detection devices is four, and the four visual detection devices are arranged in pairs with high symmetry with respect to the axis of the strip-shaped bearing groove, and the four The visual detection devices all face the same position on the strip-shaped bearing groove.

The further beneficial effects of adopting the above are: the setting of four visual detection devices fully considers the various positions and states of the gonad parts of silkworm chrysalis when they fall on the detection platform, ensuring that there is always a set of visual systems that can detect the gonad characteristics of silkworm chrysalis. Drawing and identification, thus greatly improving the feasibility and accuracy of silkworm chrysalis identification.

Further, the included angle between the visual detection device and the axis of the bar-shaped bearing groove is 10°-20°.

The further beneficial effects of adopting the above are: the four visual systems are arranged at 10°-20° relative to the axis of the glass bearing tank, and the two heights are symmetrically arranged, and the structure is compact, ensuring that the silkworm chrysalis gonads can be accurately captured under various circumstances, and the improvement is improved. the recognition accuracy.

Further, the visual detection device includes a camera and a light source. The camera adopts an industrial camera with more than one million pixels, and its field of view is at the millimeter level; the light sources used are all ring light sources.

Further, the support is provided with two fixed frames, the strip-shaped bearing groove passes through the two fixed frames, and the visual detection device is arranged at the top and bottom of the inner sides of the two fixed frames.

Further, the two opposite sides of the fixed frame are fixed on the bracket through the rotating disk, and the fixed frame can rotate with the connecting line of the two rotating disks as the center line.

The beneficial effect of the above further solution is that the adjustment of the visual detection device is facilitated, and the detection point of the visual detection device can be adjusted according to the inclination angle of the bar-shaped bearing groove.

Further, the silkworm chrysalis intelligent receiving device includes a motor bracket, and the motor bracket is fixed on the base;

A splitter slot, the splitter slot is fixed on the top of the motor bracket, and the splitter slot is arranged vertically below the horizontal lower end of the strip bearing slot;

A rotating motor, the rotating motor is fixed on the motor bracket and located below the splitter slot, the output shaft of the rotating motor passes upwards and extends out of the middle of the splitter slot;

A guide groove, the guide groove is arranged on the groove surface of the distribution groove, and the guide groove divides the distribution groove into two channels along the length direction of the distribution groove, and the two passages are respectively located in the On both sides of the guide groove, the bottom of the guide groove is fixedly connected with the output shaft of the rotating motor, and the rotating motor drives the guide groove to rotate around the output shaft of the rotating motor.

The beneficial effect of adopting the above-mentioned further scheme is that the driving motor is an easy-to-control stepper motor, and the identification result of the silkworm chrysalis intelligent detection device in its rotating state is controlled, and then drives the guide groove to rotate clockwise, counterclockwise or not to rotate to form three silkworm chrysalis passages, respectively. The female and male silkworm chrysalis and the silkworm chrysalis whose gonad characteristics are destroyed and cannot be identified are separated and collected.

A method for intelligent identification of silkworm chrysalis, using the above-mentioned intelligent identification device for silkworm chrysalis to identify silkworm chrysalis, comprising the following steps:

Step 1: The silkworm chrysalis intelligent conveying device drives the silkworm chrysalis forward at a given speed, positions, picks up and adjusts the posture of the silkworm chrysalis, and then transports the silkworm chrysalis to the silkworm chrysalis intelligent detection device;

Step 2, the silkworm chrysalis intelligent detection device receives the silkworm chrysalis transported by the silkworm chrysalis intelligent delivery device, collects images of the silkworm chrysalis, and identifies the gonad characteristics of the silkworm chrysalis;

Step 3: The silkworm chrysalis intelligent collecting device separates and collects the identified silkworm chrysalis.

Further, it specifically includes the following steps: step 1, open the conveyor belt device, pour the silkworm chrysalis in batches into the feeding device, the silkworm chrysalis will fall on the conveyor belt device without stacking through the guidance of the feeding device, and the silkworm chrysalis will be laid flat on it and then The conveyor belt device moves forward at a predetermined speed;

Step 2, using the blob analysis to locate the silkworm chrysalis center on the silkworm chrysalis on the conveyor belt device through the visual positioning device, and calculating the angle between the head and tail of the silkworm chrysalis relative to the Y direction;

Step 3, start the XY linear slide mechanism, so that the XY linear slide mechanism drives the voice coil motor to move vertically above the silkworm chrysalis, start the voice coil motor, and the output shaft of the voice coil motor extends to the suction nozzle suck the silkworm chrysalis, then retract the output shaft of the voice coil motor, and then rotate the output shaft of the voice coil motor axially so that the head and tail direction of the silkworm chrysalis is the same as the Y direction;

Step 4, the XY linear slide mechanism drives the voice coil motor to the vertical top of the horizontal high end of the bar-shaped bearing tank, the output shaft of the voice coil motor extends out, the suction nozzle releases the silkworm chrysalis, and releases the silkworm chrysalis to the strip on the bearing groove;

Step 5: The silkworm chrysalis slides down along the bar-shaped bearing trough under the action of gravity. When the silkworm chrysalis passes through the visual detection device, the photoelectric sensor detects the position of the silkworm chrysalis and sends a feedback message, which automatically triggers the visual detection device to collect pictures and gonad characteristics of the silkworm chrysalis identification;

Step 6: The silkworm chrysalis intelligent collecting device classifies and collects male silkworm chrysalis, female silkworm chrysalis and unidentified silkworm chrysalis according to the recognition result of silkworm chrysalis gonad characteristics by the visual detection device, and completes the collection of silkworm chrysalis of different sexes.

The beneficial effects of adopting the above further scheme are: the method of the present invention can realize the orderly and intelligent transportation of silkworm chrysalis in the intelligent identification process, and can adjust the attitude of silkworm chrysalis before detection, so as to improve the efficiency and accuracy of identification work; The accuracy of intelligent identification of silkworm chrysalis has broad application prospects in the fields of intelligent transportation of silkworm chrysalis.

Description of drawings

Fig. 1 is a structural representation of the present invention;

Fig. 2 is the front view of the present invention;

Fig. 3 is the structural representation of silkworm chrysalis intelligent conveying device of the present invention;

Fig. 4 is the front view of silkworm chrysalis intelligent conveying device of the present invention;

Fig. 5 is the top view of silkworm chrysalis intelligent conveying device of the present invention;

Fig. 6 is the left view of silkworm chrysalis intelligent conveying device of the present invention;

Fig. 7 is the sectional view of feeding bin of the present invention;

Fig. 8 is the structural representation of silkworm chrysalis intelligent detection device of the present invention;

Fig. 9 is the front view of silkworm chrysalis intelligent detection device of the present invention;

Fig. 10 is the top view of silkworm chrysalis intelligent detection device of the present invention;

Fig. 11 is the left view of silkworm chrysalis intelligent detection device of the present invention;

Fig. 12 is the structural representation of silkworm chrysalis intelligent material receiving device of the present invention;

Fig. 13 is the front view of silkworm chrysalis intelligent material receiving device of the present invention;

Fig. 14 is the top view of silkworm chrysalis intelligent material receiving device of the present invention;

Fig. 15 is the left view of silkworm chrysalis intelligent material receiving device of the present invention;

In the accompanying drawings, the list of parts represented by each label is as follows:

1. Base, 2. Silkworm chrysalis intelligent conveying device, 3. Silkworm chrysalis intelligent detection device, 4. Silkworm chrysalis intelligent receiving device, 5. Support platform, 6. Conveyor belt device, 7. Conveyor belt bracket, 8. Drive wheel, 9 , driven wheel, 10, conveyor belt, 11, driving motor, 12, feeding device, 13, feeding support frame, 14, feeding bin, 15, intelligent picking device, 16, visual positioning device, 17, camera, 18 , ring light source, 19, silkworm chrysalis picking mechanism, 20, voice coil motor, 21, suction nozzle, 22, XY linear slide mechanism, 23, first Y-axis slide rail, 24, second Y-axis slide rail, 25, X Axis slide rail, 26, sliding table slider, 27, the first screw mandrel, 28, the first slide rail motor, 29, the second screw mandrel, 30, the second slide rail motor, 31, fixed hanging plate frame, 32, Bracket, 33, strip bearing groove, 34, visual detection device, 35, photoelectric sensor, 36, long fixing rod, 37, short fixing rod, 38, adjusting rod, 39, locking screw, 40, ball joint structure, 41 , fixed frame, 42, rotating disc, 43, motor support, 44, splitter tank, 45, rotating motor, 46, guide groove.

Detailed ways

The principles and features of the present invention are described below in conjunction with the accompanying drawings, and the examples given are only used to explain the present invention, and are not intended to limit the scope of the present invention.

As shown in Fig. 1 and Fig. 2, the present invention includes a base 1,

The silkworm chrysalis intelligent conveying device 2 is arranged on the base 1, and is used to drive the silkworm chrysalis to advance at a given speed, and after positioning, picking up the silkworm chrysalis and adjusting the posture of the silkworm chrysalis, the silkworm chrysalis is transported to the silkworm chrysalis intelligent detection device 3;

The silkworm chrysalis intelligent detection device 3 is located on the base 1 and is located at the delivery tail end of the silkworm chrysalis intelligent delivery device 2, and is used for receiving the silkworm chrysalis delivered by the silkworm chrysalis intelligent delivery device 2, and image acquisition of the silkworm chrysalis, and Identify the gonad characteristics of silkworm chrysalis;

The silkworm chrysalis intelligent collecting device 4 is arranged on the base 1 and is located beside the silkworm chrysalis intelligent detection device 3, and is used for separating and collecting the identified silkworm chrysalis.

Preferably, as shown in Fig. 3, Fig. 4, Fig. 5 and Fig. 6, the silkworm chrysalis intelligent delivery device 2 includes

A supporting platform 5, the supporting platform 5 is arranged on the upper surface of the base 1;

Conveyor belt device 6, described conveyer belt device 6 is located on the described support platform 5, is used to drive silkworm chrysalis to advance by given speed;

Feeding device 12, described feeding device 12 is arranged on described conveyer belt device 6, is positioned at the vertical top of the starting end of described conveyer belt device 6, is used for guiding described silkworm chrysalis to fall into described silkworm chrysalis without stacking. On the conveyor belt device 6;

Intelligent pick-up device 15, described smart pick-up device 15 is arranged on described supporting platform 5, and it is positioned at the vertical top of described conveyor belt device 6, is used for positioning, picking up and adjusting silkworm chrysalis on conveyor belt device 6 posture, and silkworm chrysalis is delivered to described silkworm chrysalis intelligent detection device 3.

Silkworm chrysalis intelligent conveying device 2 can realize the orderly and intelligent transportation of silkworm chrysalis in the process of intelligent identification, and adjust the posture of silkworm chrysalis before detection, so as to improve the efficiency and accuracy of subsequent identification work.

Preferably, the conveyor belt device 6 includes a conveyor belt bracket 7, a driving wheel 8, a driven wheel 9, a conveyor belt 10 and a driving motor 11, the conveyor belt bracket 7 is fixed on the base 1, and the driving wheel 8 and the driven wheel 9 are axially rotatably fixed at both ends of the conveyor belt support 7, the conveyor belt 10 is sleeved on the driving wheel 8 and the driven wheel 9, and the drive motor 11 is fixed on the conveyor belt bracket 7, the output end of the drive motor 11 is fixedly connected with the drive wheel 8, and the drive motor 11 drives the drive wheel 8 to rotate axially, thereby driving the conveyor belt 10 Go forward at a given speed. The conveying device includes a driving pulley 8 controlled by a drive motor 11. Under the cooperation of the drive pulley 8 and the driven pulley 9, the belt is driven to run, and the conveying rate can be adjusted by adjusting the speed of the drive motor 11.

Preferably, the feeding device 12 includes a feeding support frame 13 and a feeding bin 14, the feeding supporting frame 13 is fixed on one end of the conveyor belt bracket 7, and the feeding bin 14 is fixed on the feeding bin 14. material support frame 13 and is located vertically above the conveyor belt 10. The setting of the feeding bin 14 can realize uniform feeding, and prevent silkworm chrysalis from stacking on the conveyer belt 10 .

Preferably, as shown in FIG. 7 , the feed bin 14 has an inverted trapezoidal structure with a wide top and a narrow bottom. The feeding bin 14 has an inverted trapezoidal structure with a wide top and a narrow bottom. The key dimensions and installation dimensions are calculated based on the size of the general silkworm chrysalis, which can make the silkworm chrysalis fall slowly on the conveyor belt under the friction of the moving conveyor belt surface, thereby ensuring that the silkworm chrysalis No stacking on the conveyor belt.

Preferably, the intelligent picking device 15 includes a visual positioning device 16 for visually locating the silkworm chrysalis on the conveyor belt 10, a silkworm chrysalis picking mechanism 19 for picking up the silkworm chrysalis on the conveyor belt 10 and adjusting the direction of the silkworm chrysalis and driving the silkworm chrysalis. Vision positioning device 16 and silkworm chrysalis pick-up mechanism 19 move XY linear slide mechanism 22 (XY linear slide mechanism 22 refers to the mechanical structure that can provide linear motion on two directions perpendicular to each other.), described XY linear slide The table mechanism 22 is arranged on the base 1, and the visual positioning device 16 and the silkworm chrysalis picking mechanism 19 are arranged on the XY linear slide mechanism 22 and are located vertically above the conveyor belt 10. The XY linear slide mechanism 22 drives the visual positioning device 16 and the silkworm chrysalis picking mechanism 19 to move along the conveying direction of the conveyor belt 10 and along the conveying direction perpendicular to the conveyor belt 10 . The setting of the visual positioning device 16 can locate the silkworm chrysalis; the silkworm chrysalis picking mechanism 19 can realize picking up the silkworm chrysalis on the conveyor belt 10 and adjust the direction of the silkworm chrysalis; the XY linear slide mechanism 22 is used to drive the described visual positioning device 16 and the silkworm chrysalis The pick-up mechanism 19 moves.

Preferably, the XY linear slide mechanism 22 includes a first Y-axis slide rail 23, a second Y-axis slide rail 24 and an X-axis slide rail 25, and the first Y-axis slide rail 23 and the second Y-axis slide rail Slide rails 24 are arranged on the base 1 on both sides of the conveyor belt 10 , and the first Y-axis slide rail 23 and the second Y-axis slide rail 24 are aligned with the conveying direction of the conveyor belt 10 Arranged in parallel, the two ends of the X-axis slide rail 25 are respectively fixed on the slide table slider 26 provided on the first Y-axis slide rail 23 and the slide table slide provided on the second Y-axis slide rail 24 On the block 26, the X-axis slide rail 25 is perpendicular to the first Y-axis slide rail 23 and the second Y-axis slide rail 24, and the first Y-axis slide rail 23 is provided with a A first threaded mandrel 27 extending in the length direction of a Y-axis slide rail 23, the slide block 26 on the first Y-axis slide rail 23 is sleeved on the first threaded mandrel 27, and the first Y-axis slide One end of the rail 23 is provided with a first slide rail motor 28 for driving the first screw mandrel 27 to rotate axially, and the rotation of the first screw mandrel 27 drives the X-axis slide rail 25 along the first Y-axis. The slide rail 23 and the second Y-axis slide rail 24 move back and forth in the length direction, and the X-axis slide rail 25 is provided with a second screw rod 29 extending along the length direction of the X-axis slide rail 25. One end of the shaft slide rail 25 is provided with a second slide rail motor 30 that drives the second screw mandrel 29 to rotate axially. The slide block 26 on the X-axis slide rail 25 is sleeved on the second screw mandrel 29, and the visual positioning device 16 and the silkworm chrysalis picking mechanism 19 are all fixed on the fixed hanging board frame 31, The axial rotation of the second threaded rod 29 drives the visual positioning device 16 and the silkworm chrysalis picking mechanism 19 to move back and forth along the length direction of the X-axis slide rail 25 . The first screw rod 27 is driven to rotate by the first slide motor 28, thereby driving the X-axis slide rail 25 to move along the length direction of the first Y-axis slide rail 23 and the second Y-axis slide rail 24, and the second slide rail motor 30 Drive the second screw mandrel 29 to rotate, thereby realize driving the visual positioning device 16 and the silkworm chrysalis picking-up mechanism 19 to move back and forth along the length direction of the X-axis slide rail 25, thereby realizing the visual positioning device 16 and the silkworm chrysalis picking-up mechanism 19 above the conveyor belt 10 X 1. The movement in the Y direction facilitates the image recognition and picking up of silkworm chrysalis on the conveyor belt 10 .

Preferably, the silkworm chrysalis picking mechanism 19 includes a camera 17 and a ring light source 18, the camera 17 is fixed on the fixed hanging board frame 31, the lens of the camera 17 faces the conveyor belt 10, and the ring light source 18 Set on the lens of the camera 17 with the lens of the camera 17 as the center. Preferably, the industrial camera 17 used by the visual positioning device 16 is a megapixel industrial camera 17 , and its field of view is millimeter-level; the light source used is a ring light source 18 . The lens of the camera 17 and the axis line of the ring light source 18 are collinear, the camera 17 is used to image the silkworm chrysalis, and the ring light source provides the required light intensity for imaging.

Preferably, the silkworm chrysalis picking mechanism 19 includes a voice coil motor 20 and a suction nozzle 21, the voice coil motor 20 is fixed on the fixed hanging board frame 31, and the suction nozzle 21 is arranged on the voice coil motor 20 On the output shaft, the voice coil motor 20 drives the suction nozzle 21 to approach and move away from the conveyor belt 10 . The voice coil motor 20 is used to drive the suction nozzle 21 to be hollow. The suction nozzle 21 can be made of rubber. The rubber suction nozzle 21 is fixed on the hollow extension shaft of the voice coil motor 20 through the tail sleeve, and is used for picking up, carrying and Posture adjustment, wherein the handling and posture adjustment of silkworm chrysalis can be carried out simultaneously or step by step.

Preferably, as shown in Fig. 8, Fig. 9, Fig. 10, and Fig. 11, the silkworm chrysalis intelligent detection device 3 includes a support 32, and the support 32 is arranged on the base 1 and is located at the silkworm chrysalis intelligent delivery device 2 the end of the delivery;

Strip-shaped bearing groove 33, described strip-shaped bearing groove 33 is fixed on the described support 32 by fixing bar, described strip-shaped bearing groove 33 is provided obliquely, and one end of described strip-shaped bearing groove 33 positioned at the horizontal high end is positioned at the The conveying tail end of silkworm chrysalis intelligent conveying device 2;

A visual inspection device 34, which is arranged on the bracket 32, is used for image collection and gonadal feature recognition of silkworm chrysalis on the strip-shaped carrying tank 33.

Preferably, the strip-shaped carrying groove 33 is provided with a photoelectric sensor 35, the photoelectric sensor 35 is connected to the circuit of the visual detection device 34, and the visual detection device 34 is lower towards the upper level of the strip-shaped carrying groove 33. For the part of the photoelectric sensor 35, when the photoelectric sensor 35 senses the passage of the silkworm chrysalis, the visual detection device 34 is turned on. A photoelectric sensor 35 is arranged on the bar-shaped bearing groove 33. When the silkworm chrysalis slides to the sensing position of the photoelectric sensor 35, the visual detection device 34 is turned on, and image acquisition and gonad feature recognition are performed on the silkworm chrysalis, so that the time of image acquisition can be accurately grasped. .

Preferably, the fixed rod comprises a hollow long fixed rod 36 and a hollow short fixed rod 37, the long fixed rod 36 is arranged on the side of the support 32 close to the intelligent detection device 3 of the silkworm chrysalis, and the short fixed rod Rod 37 is located at described support 32 away from the side of described silkworm chrysalis intelligent detection device 3, and the tops of described long fixed rod 36 and described short fixed rod 37 are all inserted with regulating rod 38, and described regulating rod 38 passes through lock. Tightening screws 39 are locked on the tops of the long fixing rod 36 and the short fixing rod 37 , and the two ends of the bar-shaped bearing groove 33 are respectively fixed on the tops of the two adjusting rods 38 through ball joint structures 40 . In the hollow long fixed rod 36 and the hollow short fixed rod 37, the adjusting rod 38 is inserted, locked by the locking screw 39, and the two ends of the strip bearing groove 33 are respectively fixed on the tops of the two adjusting rods 38, The height and inclination of the bar-shaped bearing groove 33 can be adjusted by adjusting the length of the adjusting rod 38 protruding from the top of the long fixing rod 36 and the short fixing rod 37 .

Preferably, the strip-shaped bearing groove 33 is inclined at an angle of 15°-25° with the horizontal plane. The bar-shaped bearing groove 33 and the horizontal plane are inclined at an angle of 15°-25°, which can avoid the too fast sliding speed of silkworm chrysalis and affect the quality of image acquisition when the inclination angle is too large, and can avoid the too slow sliding speed of silkworm chrysalis when the inclination angle is too small. affect the recognition rate.

Preferably, the strip-shaped bearing groove 33 is a transparent bearing groove, and the number of the visual detection devices 34 is four, and the four visual detection devices 34 are at two heights with respect to the axis of the strip-shaped bearing groove 33 Symmetrically arranged, the four visual detection devices 34 all face the same position on the strip-shaped bearing groove 33 . The setting of four visual detection devices 34 has fully considered the various positions and states of the gonads of the silkworm chrysalis when it falls on the detection platform, so as to ensure that there is always a set of visual systems that can collect and identify the gonad characteristics of the silkworm chrysalis, thereby greatly improving the performance of the silkworm chrysalis. The feasibility and accuracy of silkworm chrysalis identification are improved.

Preferably, the included angle between the visual detection device 34 and the axis of the bar-shaped bearing groove 33 is 10°-20°. The four vision systems are arranged at 10°-20° relative to the axis of the glass bearing tank and are arranged symmetrically in pairs. The structure is compact, which ensures that the gonads of silkworm chrysalis can be accurately captured under various circumstances, and the accuracy of recognition is improved.

Preferably, the visual detection device 34 includes a camera 17 and a light source. The camera 17 is an industrial camera 17 with more than one million pixels, and its field of view is millimeter-level;

Preferably, the bracket 32 is provided with two fixed frames 41, the strip-shaped bearing groove 33 passes through the two fixed frames 41, and the visual detection device 34 is arranged inside the two fixed frames 41 top and bottom of .

Preferably, the two opposite sides of the fixed frame 41 are fixed on the support 32 through the rotating disk 42 , and the fixed frame 41 can rotate with the connecting line of the two rotating disks 42 as the center line. The adjustment of the visual detection device 34 is facilitated, and the detection point of the visual detection device 34 can be adjusted according to the inclination angle of the bar-shaped bearing groove 33 .

Preferably, as shown in Fig. 12, Fig. 13, Fig. 14 and Fig. 15, the silkworm chrysalis intelligent receiving device 4 includes a motor bracket 43, and the motor bracket 43 is fixed on the base 1;

Diverter groove 44, described diverter groove 44 is fixed on the top of described motor support 43, and described diverter groove 44 is arranged on the vertical below of the horizontal low end of described strip bearing groove 33;

Rotating motor 45, described rotating motor 45 is fixed on the described motor support 43, is positioned at the below of described distribution groove 44, and the output axis of described rotating motor 45 passes through and stretches out the middle part of described distribution groove 44;

Guide groove 46, described guide groove 46 is arranged on the groove surface of described distribution groove 44, and described guide groove 46 divides described distribution groove 44 into two passages along the length direction of described distribution groove 44, two passages The passages are respectively located on both sides of the guide groove 46, the bottom of the guide groove 46 is fixedly connected with the output shaft of the rotating motor 45, and the rotating motor 45 drives the guide groove 46 with the rotation of the rotating motor 45. The output shaft rotates as the center.

Drive motor 11 selects the easy-to-control stepping motor for use, and the identification result control of its rotating state silkworm chrysalis intelligent detection device 3, and then drives guide groove 46 to rotate along, counterclockwise or not to rotate and form three silkworm chrysalis passages, respectively to female, male silkworm chrysalis and silkworm chrysalis. Silkworm chrysalis whose gonad characteristics are destroyed and cannot be identified are separated and collected.

The present invention also discloses an intelligent conveying method for silkworm chrysalis, using the above-mentioned intelligent identification device for silkworm chrysalis to identify the silkworm chrysalis, comprising the following steps: Step 1: Turn on the drive motor 11 to make the conveyor belt 10 run at a set speed;

Step 2: Pour the batches of silkworm chrysalis into the feed bin 14, and the silkworm chrysalis fall on the conveyor belt 10 without stacking through the dredging of the feed bin 14, and the silkworm chrysalis are laid flat on it and move forward with the conveyor belt 10 at a predetermined speed sports;

Step 3, using the blob analysis to locate the silkworm chrysalis center on the silkworm chrysalis on the conveyor belt 10 through the visual positioning device 16, and calculating the angle between the head and tail of the silkworm chrysalis relative to the Y direction;

Step 4, start the XY linear slide mechanism 22, so that the XY linear slide mechanism 22 drives the voice coil motor 20 to move to the vertical top of the silkworm chrysalis, start the voice coil motor 20, and the output shaft of the voice coil motor 20 Stretch out to the suction nozzle 21 to suck the silkworm chrysalis, then the output shaft of the voice coil motor 20 is retracted, and then the output shaft of the voice coil motor 20 rotates axially so that the head and tail direction of the silkworm chrysalis is the same as the Y direction;

Step 5, the XY linear slide mechanism 22 drives the voice coil motor 20 to the vertical upper side of the horizontal high end of the bar-shaped bearing groove 33, the output shaft of the voice coil motor 20 protrudes, and the suction nozzle 21 releases the silkworm chrysalis, The silkworm chrysalis is released onto the bar-shaped bearing groove 33;

Step 6: The silkworm chrysalis slides down along the bar-shaped bearing groove 33 under the action of gravity. When the silkworm chrysalis passes through the visual detection device 34, the photoelectric sensor 35 detects the position of the silkworm chrysalis and sends feedback information, which automatically triggers the visual detection device 34 to collect the silkworm chrysalis. Diagram and gonad feature recognition;

Step seven, the rotating motor 45 drives the guide groove 46 to rotate clockwise or counterclockwise or not according to the recognition result of the gonad characteristics of the silkworm chrysalis by the visual detection device 34, thereby forming three different silkworm chrysalis passages, realizing the detection of male silkworm chrysalis, female silkworm chrysalis and silkworm chrysalis. The classified collection of unidentified silkworm chrysalis has completed the collection of silkworm chrysalis of different sexes.

Working principle: First, set the speed of the conveyor belt device 6 according to the work needs, pour the silkworm chrysalis in batches into the feeding bin 14, and after passing through the thin neck of the feeding bin 14, the silkworm chrysalis fall on the conveyor belt without stacking and press a certain amount along with the conveyor belt. The speed moves forward. At the same time, the vision system positioning device uses blob analysis to locate the center position of the silkworm chrysalis on the conveyor belt, and calculates the angle between the head and tail of the silkworm chrysalis relative to the Y direction (the movement direction of the silkworm chrysalis), and then calls the X direction, Y The direction movement and voice coil motor 20 lower computer program make the voice coil motor 20XY linear slide mechanism 22 move to the top of the silkworm chrysalis, and then the voice coil motor 20 axis moves in the Z direction, driving the suction nozzle 21 to extend to the height of the silkworm chrysalis, and the rubber sucks it The mouth 21 sucks the silkworm chrysalis under vacuum adsorption, the 20-axis of the voice coil motor retracts to a suitable height, and the 20-axis of the voice coil motor rotates according to the angle between the head and tail of the silkworm chrysalis so that the direction of the head and tail of the silkworm chrysalis is exactly the same as the Y direction.

Next, when the XY linear slide mechanism 22 moves the voice coil motor 20 directly above the bar-shaped bearing groove 33, the voice coil motor 20 extends downward and releases the silkworm chrysalis into the strip-shaped bearing groove 33, and the silkworm chrysalis moves along the strip-shaped bearing groove 33 under the action of gravity. The strip-shaped carrying groove 33 slides downwards, and when the silkworm chrysalis enters the imaging range of the visual detection device 34, the photoelectric sensor 35 on the strip-shaped carrying groove 33 detects the position of the silkworm chrysalis and sends feedback information, automatically triggering the corresponding visual detection device 34 to detect the silkworm chrysalis. Mapping and identification of gonad features were performed.

Finally, control the rotating motor 45 of the silkworm chrysalis intelligent receiving device 4 to rotate clockwise, counterclockwise or not move according to the identification results of the gonad characteristics of the silkworm chrysalis, and the guide groove 46 rotates clockwise or counterclockwise in the shunt groove 44 or the guide groove 46 Do not rotate, thereby form three different silkworm chrysalis passages, promptly guide groove 46 does not rotate, and silkworm chrysalis directly falls in the guide groove 46 from the bar-shaped carrying groove 33, collects male silkworm chrysalis; Fall into guide groove 46 left passages on the groove, collect female silkworm chrysalis; Guide groove 46 rotates counterclockwise, and silkworm chrysalis falls into guide groove 46 right passages, collects unidentified silkworm chrysalis. So far, the intelligent identification and collection of silkworm chrysalis of different sexes has been completed.

Compared with the prior art, the device and method for intelligent identification of silkworm chrysalis according to the present invention mainly possess the following technical advantages;

1. By adding a special feeding bin 14 and an intelligent pick-up device 15 on the basis of the traditional conveyor belt device 6, the posture of the silkworm chrysalis is adjusted accordingly before the detection work, which improves the flexibility and adaptability of the silkworm chrysalis transportation, and provides a basis for the follow-up The detection work provides convenience;

2. By setting up four sets of vision systems and rationally arranging them, fully considering the various positions and states of the gonads of silkworm chrysalis when they land on the detection platform, it is ensured that there is always a set of vision systems that can detect the gonad characteristics of silkworm chrysalis. Map and identification, thus greatly improving the feasibility and accuracy of silkworm chrysalis identification;

3. Using the different rotation states of the guide groove 46 to form three different silkworm chrysalis passages, the method is novel, the mechanical structure is simple and compact, and the feasibility and economy are good.

The overall identification device has a simple and compact mechanical structure, is easy to operate, and can realize the transportation, detection and identification, and separation and collection of silkworm chrysalis in an orderly manner, so it has broad application prospects in the field of identification of silkworm chrysalis.

The above descriptions are only preferred embodiments of the present invention, and are not intended to limit the present invention. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present invention shall be included in the protection of the present invention. within range.

Claims (8)

1. A silkworm chrysalis intelligent identification device is characterized in that, comprising a base (1), The silkworm chrysalis intelligent conveying device (2) is arranged on the base (1), and is used to drive the silkworm chrysalis to move forward at a given speed, and after positioning, picking up and adjusting the posture of the silkworm chrysalis, the silkworm chrysalis is transported to the silkworm chrysalis intelligent detection device (3); The silkworm chrysalis intelligent detection device (3) is arranged on the base (1), located at the delivery tail end of the silkworm chrysalis intelligent delivery device (2), and is used to receive the silkworm chrysalis delivered by the silkworm chrysalis intelligent delivery device (2), And carry out image collection on silkworm chrysalis, and identify the gonad characteristics of silkworm chrysalis; The silkworm chrysalis intelligent collecting device (4) is arranged on the base (1) and is located next to the silkworm chrysalis intelligent detection device (3), and is used for separating and collecting silkworm chrysalis after identification; Described silkworm chrysalis intelligent delivery device (2) comprises a support platform (5), the support platform (5) is arranged on the upper surface of the base (1); Conveyor belt device (6), described conveyer belt device (6) is located on the described support table (5), is used to drive silkworm chrysalis to advance by given speed; Feeding device (12), described feeding device (12) is located on the described conveyer belt device (6), is positioned at the vertical top of the starting end of described conveyer belt device (6), is used for guiding described silkworm chrysalis drop onto said conveyor belt device (6) without stacking; Intelligent pick-up device (15), described intelligent pick-up device (15) is arranged on the described supporting platform (5), and it is positioned at the vertical top of described conveyer belt device (6), is used for conveyer belt device (6) The silkworm chrysalis on the top is positioned, picked up and adjusted the posture of the silkworm chrysalis, and the silkworm chrysalis is transported to the silkworm chrysalis intelligent detection device (3); The intelligent picking device (15) includes a visual positioning device (16) for visually locating the silkworm chrysalis on the conveyor belt (10), a silkworm chrysalis picking mechanism for picking up the silkworm chrysalis on the conveyor belt (10) and adjusting the direction of the silkworm chrysalis (19) and the XY linear slide mechanism (22) that drives the described visual positioning device (16) and the silkworm chrysalis picking mechanism (19) to move, and the XY linear slide mechanism (22) is located at the support platform (5 ), the visual positioning device (16) and the silkworm chrysalis picking mechanism (19) are set on the XY linear slide mechanism (22) and are located vertically above the conveyor belt (10), the The XY linear slide mechanism (22) drives the visual positioning device (16) and the silkworm chrysalis picking mechanism (19) in the conveying direction along the conveyer belt (10) and along the conveying direction perpendicular to the conveyer belt (10). direction to move. 2. A kind of silkworm chrysalis intelligent identification device according to claim 1, is characterized in that, described XY linear slide mechanism (22) comprises first Y-axis slide rail (23), second Y-axis slide rail (24) and the X-axis slide rail (25), The first Y-axis slide rail (23) and the second Y-axis slide rail (24) are arranged on the support platform (5) on both sides of the conveyor belt (10), and the first Y-axis slide rail (24) The axis slide rail (23) and the second Y-axis slide rail (24) are all arranged parallel to the conveying direction of the conveyor belt (10), and the two ends of the X-axis slide rail (25) are respectively fixed on the On the slide table slider (26) provided on the first Y-axis slide rail (23) and on the slide table slide block (26) provided on the second Y-axis slide rail (24), the X-axis slide rail (25) vertically arranged with the first Y-axis slide rail (23) and the second Y-axis slide rail (24); The first Y-axis slide rail (23) is provided with a first screw rod (27) extending along the length direction of the first Y-axis slide rail (23), and on the first Y-axis slide rail (23) The slider (26) of the slide table is sleeved on the first screw (27), and one end of the first Y-axis slide rail (23) is provided for driving the first screw (27) to rotate axially. The first slide rail motor (28), the rotation of the first screw mandrel (27) drives the X-axis slide rail (25) along the first Y-axis slide rail (23) and the second Y-axis The length direction of slide rail (24) moves back and forth; The X-axis slide rail (25) is provided with a second screw mandrel (29) extending along the length direction of the X-axis slide rail (25), and one end of the X-axis slide rail (25) is provided with a The second slide rail motor (30) that the second screw mandrel (29) axially rotates, and the slide table slide block (26) on the described X-axis slide rail (25) is fixed with a fixed hanging board frame (31), so The slide table slider (26) on the X-axis slide rail (25) is sleeved on the second screw mandrel (29), and the visual positioning device (16) and the silkworm chrysalis picking mechanism (19) are fixed on the On the fixed hanging board frame (31), the axial rotation of the second screw mandrel (29) drives the visual positioning device (16) and the silkworm chrysalis picking mechanism (19) along the X-axis slide rail ( 25) to move back and forth in the lengthwise direction. 3. a kind of silkworm chrysalis intelligent identification device according to claim 1, is characterized in that, described silkworm chrysalis pick-up mechanism (19) comprises voice coil motor (20) and suction nozzle (21), and described voice coil motor (20) fixed on the fixed hanging board frame (31), the suction nozzle (21) is arranged on the output shaft of the voice coil motor (20), and the voice coil motor (20) drives the suction nozzle (21 ) close to and away from the conveyor belt (10). 4. A kind of silkworm chrysalis intelligent identification device according to any one of claims 1 to 3, characterized in that, said silkworm chrysalis intelligent detection device (3) comprises a support (32), and said support (32) is located at said On the base (1), it is located at the delivery tail end of the silkworm chrysalis intelligent delivery device (2); Strip-shaped bearing groove (33), described strip-shaped bearing groove (33) is fixed on the described support (32) by fixing bar, described strip-shaped bearing groove (33) is inclined to set, and described strip-shaped bearing groove ( 33) The end at the high end of the level is located at the delivery tail end of the silkworm chrysalis intelligent delivery device (2); A visual detection device (34), the visual detection device (34) is arranged on the support (32), and is used for image acquisition and gonad feature recognition of silkworm chrysalis on the strip-shaped bearing tank (33). 5. a kind of silkworm chrysalis intelligent identification device according to claim 4, is characterized in that, described strip bearing groove (33) is provided with photoelectric sensor (35), and described photoelectric sensor (35) and described visual detection The device (34) is connected to the circuit, and the visual detection device (34) faces the part of the bar-shaped bearing groove (33) whose horizontal height is lower than that of the photoelectric sensor (35), when the photoelectric sensor (35) senses When the silkworm chrysalis passed, the visual detection device (34) was opened. 6. a kind of silkworm chrysalis intelligent identification device according to claim 5, is characterized in that, described fixed rod comprises hollow long fixed rod (36) and hollow short fixed rod (37), and described long fixed rod (36) ) is located at the side of the support (32) close to the intelligent detection device for silkworm chrysalis (3), and the short fixing rod (37) is located at the side of the support (32) away from the intelligent detection device for silkworm chrysalis (3). On one side, the tops of the long fixed rod (36) and the short fixed rod (37) are inserted with an adjusting rod (38), and the adjusting rod (38) is locked on the fixed rod (39) by a locking screw (39). The tops of the long fixed rod (36) and the short fixed rod (37), the two ends of the strip bearing groove (33) are respectively fixed on the two adjusting rods (38) by the ball joint structure (40). the top of. 7. A silkworm chrysalis intelligent identification method is characterized in that, adopting the silkworm chrysalis intelligent identification device described in any one of the above claims 1 to 6 to carry out identification of silkworm chrysalis, comprising the following steps: Step 1, the silkworm chrysalis intelligent conveying device (2) drives the silkworm chrysalis forward at a given speed, and after positioning, picking up and adjusting the posture of the silkworm chrysalis, the silkworm chrysalis is transported to the silkworm chrysalis intelligent detection device (3); Step 2, the silkworm chrysalis intelligent detection device (3) receives the silkworm chrysalis transported by the silkworm chrysalis intelligent delivery device (2), collects images of the silkworm chrysalis, and identifies the gonad characteristics of the silkworm chrysalis; Step 3, the silkworm chrysalis intelligent collecting device (4) separates and collects the identified silkworm chrysalis. 8. a kind of silkworm chrysalis intelligent identification method according to claim 7, is characterized in that, comprises the following steps: Step 1, open the conveyor belt device (6), pour the silkworm chrysalis in batches into the feeding device (12), the silkworm chrysalis fall on the conveyor belt device (6) without stacking through the guidance of the feeding device (12), and the silkworm chrysalis are laid flat On it and with the conveyor belt device (6) moving forward at a predetermined speed; Step 2, adopting blob analysis to locate the silkworm chrysalis center on the silkworm chrysalis on the conveyor belt device (6) by the visual positioning device (16), and calculate the angle between the silkworm chrysalis head and tail direction relative to the Y direction; Step 3, start the XY linear slide mechanism (22), so that the XY linear slide mechanism (22) drives the voice coil motor (20) to move to the vertical top of the silkworm chrysalis, start the voice coil motor (20), and the The output shaft of the voice coil motor (20) stretches out to the suction nozzle (21) to suck the silkworm chrysalis, then the output shaft of the voice coil motor (20) retracts, and then the output shaft of the voice coil motor (20) rotates axially Make the head-to-tail direction of the silkworm chrysalis the same as the Y direction; Step 4, the XY linear slide mechanism (22) drives the voice coil motor (20) to the vertical top of the horizontal high end of the bar-shaped bearing groove (33), and the output shaft of the voice coil motor (20) stretches out, The suction nozzle (21) releases the silkworm chrysalis, and releases the silkworm chrysalis onto the bar-shaped bearing groove (33); Step 5, the silkworm chrysalis slides down along the bar-shaped bearing groove (33) under the action of gravity, when the silkworm chrysalis passes the visual detection device (34), the photoelectric sensor (35) detects the position of the silkworm chrysalis and sends feedback information, automatically triggering the visual detection Device (34) carries out drawing and gonad feature identification to silkworm chrysalis; Step 6, the silkworm chrysalis intelligent collecting device (4) classifies and collects male silkworm chrysalis, female silkworm chrysalis and unidentified silkworm chrysalis according to the recognition result of silkworm chrysalis gonad characteristics by the visual detection device (34), and completes the collection of silkworm chrysalis of different sexes.