CN106387745A - Intelligent areca seed bittern-adding system - Google Patents
Intelligent areca seed bittern-adding system Download PDFInfo
- Publication number
- CN106387745A CN106387745A CN201610800549.8A CN201610800549A CN106387745A CN 106387745 A CN106387745 A CN 106387745A CN 201610800549 A CN201610800549 A CN 201610800549A CN 106387745 A CN106387745 A CN 106387745A
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- China
- Prior art keywords
- semen arecae
- halogen
- bittern
- areca
- ordering
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Abstract
The invention provides an intelligent areca seed bittern-adding system. The intelligent areca seed bittern-adding system is provided with a bittern-adding manipulator; and the manipulator is used for grabbing, positioning, transferring and moving the areca seeds, as well as adding bittern and feeding materials. The intelligent areca seed bittern-adding system comprises the following steps: arranging a visual inspection camera right above a material feeding area so as to identify the front and back sides of the areca seeds on basis of the shapes of the areca seeds, as well as record the positions and the orientations of the areca seeds placed in the material feeding area; grabbing the areca seeds which have downward incisions by using the bittern-adding manipulator according to multiple recorded areca seed positions; slightly adjusting the orientations of the areca seeds by vertically or horizontally rotating the bittern-adding manipulator, and then, horizontally turning the areca seeds afterwards after the completion of the slight adjustment by using the bittern-adding manipulator; and then, adding bittern onto the back sides of the areca seeds by using an automatic bittern-adding device. Visual identification is added during the bittern adding processes of the intelligent areca seed bittern-adding system, so that the system is capable of analyzing whether the areca seeds are placed on the front sides or the back sides on basis of morphology, recording and positioning the grabbing positions, as well as adjusting the orientations after the areca seeds are grabbed; therefore, screening during the grabbing process is realized so as to ensure the areca seeds grabbed by multiple suckers are in the same orientation, so that the bittern adding operation is facilitated.
Description
Technical field
The present invention relates to automated system field is and in particular to a kind of brine-adding system of Semen Arecae.
Background technology
Traditional Semen Arecae orders what halogen operation was mainly carried out by the artificial halogen of ordering, belongs to a kind of operation of labor-intensive, no
It is suitable for liberation productivity.Ordering halogen operation in Semen Arecae not only needs substantial amounts of manpower to go to complete, and needs to put into substantial amounts of
Time goes the operation completing not need accurate operation.On the one hand be not suitable for reducing labour cost, on the other hand, salt band stimulates
Property abnormal smells from the patient, contained chemical composition is harmful, and Long Term Contact can damage health.In the areca nut food course of processing, give
It is the most careful although some producers complete the halogen of ordering of Semen Arecae using corresponding equipment that Semen Arecae orders the operation of saltwater brine, but mesh
Front intelligent areca brine-adding device does not have reliable discharge and sorting arrangement, cannot ensure the direction of Semen Arecae in blanking, needs logical
Cross manual sorting to be positioned on charging tray Semen Arecae one by one, and because bare terminal end is all fixed position, need just manually to unify
Just it is normally carried out subsequent operation to after place, when placing Semen Arecae, people are that the direction that cannot ensure each Semen Arecae is all
Correctly, this has resulted in inefficiency, high labor intensive, and is inconvenient to carry out ordering halogen operation.
Content of the invention
The purpose of the present invention is primarily directed to the problems of the prior art, provides one kind can automatic identification Semen Arecae placement location
And positive and negative, and capture the unified direction of regulation and carry out ordering the automated system of halogen.
For realizing the purpose of the present invention, the invention provides technical scheme below：
A kind of Semen Arecae intellectuality brine-adding system, setting has orders halogen mechanical hand, in order to Semen Arecae is carried out crawl positioning, transmission mobile with
And order halogen blanking；Brine-adding system comprises the steps：
A. visual identity, directly over feeding region, described Semen Arecae is in feeding region and puts setting vision-based detection photographic head
Put, vision-based detection photographic head identifies front and the reverse side of Semen Arecae according to Semen Arecae form, each Bin simultaneously placed in record feeding area
Bulky position and direction；
B. capture, order halogen mechanical hand according to the multiple Semen Arecae positions recording, the downward Semen Arecae of crawl otch；
C. adjustment positioning, halogen mechanical hand of ordering up and down or horizontally rotates, and drives the Semen Arecae fine setting direction of crawl, and halogen mechanical hand of ordering is micro-
Adjust towards rear flip horizontal Semen Arecae；
D. order halogen, automatic brining equipment be set, halogen mechanical hand of order mobile to ordering halogen region be positioned to order halogen station, described oneself
Dynamic point halogen equipment carries out ordering halogen to Semen Arecae reverse side.
Further describe as to a kind of above-mentioned Semen Arecae intellectuality brine-adding system, also comprise the steps before step A：Will
Semen Arecae truncation is two halves, and Semen Arecae is randomly placed in feeding region.
Further describe as to a kind of above-mentioned Semen Arecae intellectuality brine-adding system, described to order the setting of halogen mechanical hand multiple
Vacuum cup side by side and adjustment kinematic axiss, vacuum cup adsorbs the front of Semen Arecae by vacuum pressure, adjust kinematic axiss in order to
The Semen Arecae direction of adjustment absorption, halogen mechanical hand of ordering controls each vacuum successively according to multiple Semen Arecae positions and the direction of record
Sucker suction Semen Arecae simultaneously finely tunes direction.
Further describe as to a kind of above-mentioned Semen Arecae intellectuality brine-adding system, also comprise the steps after step D：E.
It is transferred to ordering the Semen Arecae after halogen pallet and dries.
It is an advantage of the current invention that：Semen Arecae not only can be improved and order the efficiency of halogen, substantial amounts of human resourcess can also be reduced,
Reduce production cost, effectively reduce the harmful effect that in production process, salt causes to human body, and have that to order halogen accuracy high, fast
The features such as spend fast, good mechanical stability.Due to ordering during halogen, increasing visual identity and positioning, towards record, make
Mechanical hand, in crawl, can adjust direction according to behind record location crawl position and crawl, so that each sucker is captured
Semen Arecae all ensures same direction, facilitates inlet point halogen station to carry out ordering halogen operation.Simultaneously can be according to form credit in visual identity
The positive and negative of analysis Semen Arecae places situation, the screening during being captured, and skips oppositely positioned Semen Arecae, and selects successively
The Semen Arecae that can capture, does not meet the Semen Arecae of absorption for being reversed placement, after artificial or other machines handss are inverted, can
Judge whether again through visual identity to meet crawl.After mechanical hand captures, adjust direction by adjusting kinematic axiss, enter
And invert 180 degree, you can it is transferred to order and carry out ordering halogen operation on halogen station.
Brief description
Fig. 1 is the step schematic diagram of the present invention.
Specific embodiment
In order to illustrate in greater detail the present invention, now provide following control examples.But the scope of the present invention is not limited thereto.
With reference to Fig. 1, a kind of Semen Arecae intellectuality brine-adding system, setting has orders halogen mechanical hand, fixed in order to Semen Arecae is carried out with crawl
Halogen blanking is moved and is ordered in position, transmission；Brine-adding system comprises the steps：
A. visual identity, directly over feeding region, described Semen Arecae is in feeding region and puts setting vision-based detection photographic head
Put, vision-based detection photographic head identifies front and the reverse side of Semen Arecae according to Semen Arecae form, each Bin simultaneously placed in record feeding area
Bulky position and direction；
B. capture, order halogen mechanical hand according to the multiple Semen Arecae positions recording, the downward Semen Arecae of crawl otch；
C. adjustment positioning, halogen mechanical hand of ordering up and down or horizontally rotates, and drives the Semen Arecae fine setting direction of crawl, and halogen mechanical hand of ordering is micro-
Adjust towards rear flip horizontal Semen Arecae；
D. order halogen, automatic brining equipment be set, halogen mechanical hand of order mobile to ordering halogen region be positioned to order halogen station, described oneself
Dynamic point halogen equipment carries out ordering halogen to Semen Arecae reverse side.
Order during halogen above-mentioned, by increasing visual identity and positioning, towards record, make mechanical hand in crawl
When, according to the positioning crawl position recorded, and direction can be adjusted after crawl, make the Semen Arecae that each sucker is captured equal
Ensure same direction, facilitate inlet point halogen station to carry out ordering halogen operation.Semen Arecae due to truncation is ellipticity, is carrying out ordering halogen
When, its contact surface is preferably chosen center or long axis direction is carried out, and to be easier to order halogen, this is due to ordering the discharging of halogen equipment
Mouth needs narrow space that is less and adapting to Semen Arecae, and in practical operation, due to the odjective cause of Semen Arecae shape, discharging opening is not
The center that may all be precisely directed to carries out ordering halogen, but carries out ordering halogen in Semen Arecae side, if thus the direction of Semen Arecae with order halogen
Discharging opening slightly deviation when, then easily to do not go up order in Semen Arecae halogen failure.Thus by ordering, halogen mechanical hand is upper and lower or level turns
Dynamic, thus driving the Semen Arecae fine setting direction of crawl so that the halogen position of ordering of crawl is can ensure that accurately.
Further describe as to a kind of above-mentioned Semen Arecae intellectuality brine-adding system, also comprise the steps before step A：Will
Semen Arecae truncation is two halves, and Semen Arecae is randomly placed in feeding region.
Further describe as to a kind of above-mentioned Semen Arecae intellectuality brine-adding system, described to order the setting of halogen mechanical hand multiple
Vacuum cup side by side and adjustment kinematic axiss, vacuum cup adsorbs the front of Semen Arecae by vacuum pressure, adjust kinematic axiss in order to
The Semen Arecae direction of adjustment absorption, halogen mechanical hand of ordering controls each vacuum successively according to multiple Semen Arecae positions and the direction of record
Sucker suction Semen Arecae simultaneously finely tunes direction.Select halogen mechanical hand to arrange multiple vacuum type suckers to adsorb Semen Arecae, simultaneously by multiple suctions
Disk adsorbs Semen Arecae successively, carry out simultaneously multiple order halogen, can more effectively improve efficiency.
Further describe as to a kind of above-mentioned Semen Arecae intellectuality brine-adding system, also comprise the steps after step D：E.
It is transferred to ordering the Semen Arecae after halogen pallet and dries.
Due in existing equipment, for the operation do not differentiated of positive and negative of Semen Arecae, thus make in general
With in be all using manually being checked, in card to be confirmed all Semen Arecaes place positive and negatives correct after operated again, this
It is greatly lowered and orders the efficiency of halogen, and in this process it may happen that the situation of Semen Arecae reversion cannot avoid, this just makes
Become the problem of mechanical operation error, produce halogen fraction defective of ordering, the present invention, after placing Semen Arecae, is identified by real-time vision, can
Effectively Semen Arecae state to be updated, thus in each crawl control point halogen mechanical hand operation, effectively guarantee each crawl
The correctness judging.
The above, the only present invention preferably specific embodiment, but protection scope of the present invention is not limited thereto,
Any those of ordinary skill in the art the invention discloses technical scope in, the change or replacement that can readily occur in, all answer
It is included within the scope of the present invention.Therefore, protection scope of the present invention should be defined by scope of the claims.
Claims (4)
1. a kind of Semen Arecae intellectuality brine-adding system is it is characterised in that set-point halogen mechanical hand, fixed in order to Semen Arecae is carried out with crawl
Halogen blanking is moved and is ordered in position, transmission；Brine-adding system comprises the steps：
A. visual identity, directly over feeding region, described Semen Arecae is in feeding region and puts setting vision-based detection photographic head
Put, vision-based detection photographic head identifies front and the reverse side of Semen Arecae according to Semen Arecae form, each Bin simultaneously placed in record feeding area
Bulky position and direction；
B. capture, order halogen mechanical hand according to the multiple Semen Arecae positions recording, the downward Semen Arecae of crawl otch；
C. adjustment positioning, halogen mechanical hand of ordering up and down or horizontally rotates, and drives the Semen Arecae fine setting direction of crawl, and halogen mechanical hand of ordering is finely tuned
Towards rear flip horizontal Semen Arecae；
D. order halogen, automatic brining equipment be set, halogen mechanical hand of order mobile to ordering halogen region be positioned to order halogen station, described automatic
Select halogen equipment and Semen Arecae reverse side is carried out ordering with halogen.
2. a kind of Semen Arecae intellectuality brine-adding system according to claim 1 is it is characterised in that also include as follows before step A
Step：Semen Arecae truncation is two halves, Semen Arecae is randomly placed in feeding region.
3. a kind of Semen Arecae intellectuality brine-adding system according to claim 1 it is characterised in that：Described halogen mechanical hand of ordering sets
Put multiple vacuum cups side by side and adjustment kinematic axiss, vacuum cup adsorbs the front of Semen Arecae, adjustment motion by vacuum pressure
In order to adjust the Semen Arecae direction of absorption, halogen mechanical hand of ordering controls successively axle according to multiple Semen Arecae positions and the direction of record
Each vacuum cup absorption Semen Arecae simultaneously finely tunes direction.
4. a kind of Semen Arecae intellectuality brine-adding system according to claim 1 is it is characterised in that also include as follows after step D
Step：E. it is transferred to ordering the Semen Arecae after halogen pallet and dries.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610800549.8A CN106387745A (en) | 2016-09-03 | 2016-09-03 | Intelligent areca seed bittern-adding system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610800549.8A CN106387745A (en) | 2016-09-03 | 2016-09-03 | Intelligent areca seed bittern-adding system |
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| Publication Number | Publication Date |
|---|---|
| CN106387745A true CN106387745A (en) | 2017-02-15 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610800549.8A Pending CN106387745A (en) | 2016-09-03 | 2016-09-03 | Intelligent areca seed bittern-adding system |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107296234A (en) * | 2017-08-22 | 2017-10-27 | 无锡汉塔科技有限公司 | A kind of full-automatic betel nut orders halogen equipment |
| CN110338378A (en) * | 2019-08-01 | 2019-10-18 | 苏州感知线智能科技有限公司 | It is a kind of for betel nut order halogen vision to just with bootstrap technique and device |
| CN110663904A (en) * | 2018-07-02 | 2020-01-10 | 温州卓展机电科技有限公司 | Intelligent betel nut marinating machine |
Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102896631A (en) * | 2012-10-09 | 2013-01-30 | 温州大学 | Real-time/on-line azimuth adjustment device and method |
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2016
- 2016-09-03 CN CN201610800549.8A patent/CN106387745A/en active Pending
Patent Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102896631A (en) * | 2012-10-09 | 2013-01-30 | 温州大学 | Real-time/on-line azimuth adjustment device and method |
Non-Patent Citations (1)
| Title |
|---|
| 覃伟权: "《槟榔》", 31 January 2010, 中国农业大学出版社 * |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107296234A (en) * | 2017-08-22 | 2017-10-27 | 无锡汉塔科技有限公司 | A kind of full-automatic betel nut orders halogen equipment |
| CN110663904A (en) * | 2018-07-02 | 2020-01-10 | 温州卓展机电科技有限公司 | Intelligent betel nut marinating machine |
| CN110338378A (en) * | 2019-08-01 | 2019-10-18 | 苏州感知线智能科技有限公司 | It is a kind of for betel nut order halogen vision to just with bootstrap technique and device |
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Application publication date: 20170215 |