CN106896114A - A kind of apple automatic boxing method that can detect apple integrity degree - Google Patents

A kind of apple automatic boxing method that can detect apple integrity degree Download PDF

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Publication number
CN106896114A
CN106896114A CN201710141403.1A CN201710141403A CN106896114A CN 106896114 A CN106896114 A CN 106896114A CN 201710141403 A CN201710141403 A CN 201710141403A CN 106896114 A CN106896114 A CN 106896114A
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apple
main frame
control main
plastic sheet
detection
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CN106896114B (en
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胡珂
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Ningxia Nanshan sunny fruit industry Co., Ltd.
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胡珂
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    • GPHYSICS
    • G01MEASURING; TESTING
    • G01NINVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N21/00Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
    • G01N21/84Systems specially adapted for particular applications
    • G01N21/88Investigating the presence of flaws or contamination
    • G01N21/95Investigating the presence of flaws or contamination characterised by the material or shape of the object to be examined

Abstract

The present invention discloses a kind of apple automatic boxing method that can detect apple integrity degree, belong to automatic packaging field, the vanning of apple is carried out while surface defect can be whether there is with automatic detection apple, realizes that the equipment includes using a kind of apple automatic boxing machine that can detect apple integrity degree:Apple integrity degree vision inspection apparatus (1), apple automatic bag sheathing device (2), apple automatic packing device (3) and control main frame.Surface image using high contrast visual detection means detection apple and the characteristic value identification apple surface defect using control main frame extraction image, and being loseed using automatic bag sheathing and automatic boxing can realize automatically carrying out apple bagging and vanning, save a large amount of manpower and materials.

Description

A kind of apple automatic boxing method that can detect apple integrity degree
Technical field
The invention belongs to automatic packaging technical field, it is related to automated packaging equipment, especially one kind can detect apple The apple automatic boxing method of integrity degree.
Background technology
In actual life, it is that ten people that spare are gloomy to open and find after fruit fruit defective, is also that fruit was sold Very common thing in journey, the presence of defect fruit is the major issue for being badly in need of in fruit sales process solving, because a fruit Defect can grow bacterium colony in its rejected region, and then influence the preservation of other zero defect fruit.
At present, fruit was picked also in the hand picking stage, and efficiency is low, and effect difference is generally asking of presently, there are Topic, in recent years machine vision technique with its speed it is fast, contain much information, function is more the features such as obtained in quality of agricultural product detection Extensive use, drastically increases the Quality Detection precision and efficiency of agricultural product, as agricultural product Aulomatizeted Detect and sorting skill The study hotspot of art.Inventor is studied the Apple surface defect detection based on machine vision technique and recognition methods, will Daily apple passes through many experiments after carrying out IMAQ, determines pretreatment and the dividing method of image, finally to extracting apple Surface defect image carries out matrix characteristic vector analysis, and realization is identified to defect kind.
Additionally, the bagging of apple and vanning are also required to substantial amounts of manpower to complete at present, it is impossible to which automatic bag sheathing is cased, significantly Reduce production efficiency.
The content of the invention
The present invention overcomes disadvantages described above, there is provided a kind of apple automatic boxing method that can detect apple integrity degree.
Technical scheme is as follows:
A kind of apple automatic boxing machine that can detect apple integrity degree is provided first, apple integrity degree can be automatically performed Detection and to apple automatic boxing, including:Apple integrity degree vision inspection apparatus 1, apple automatic bag sheathing device 2, apple is certainly Dynamic boxing apparatus 3 and control main frame.
Further, apple integrity degree vision inspection apparatus include:Horizontal conveying belt 101, infrared detecting device 102, the One high contrast visual detection means 103, the second high contrast visual detection means 104, the first infrared illumination light source 105, Second infrared illumination light source, unqualified apple ejecting device 106, unqualified apple collection bin 107;The hair of infrared detecting device Penetrate end and receiving terminal is separately mounted to the both sides of horizontal conveying belt, for detecting whether there is apple to pass through from conveyer belt;It is hot Outer detection means has detected apple when passing through, and infrared detecting device is to control main frame sending signal, control main frame controlled level Conveyer belt suspends;First high contrast visual detection means and the second high contrast visual detection means are separately positioned on level biography Send above the both sides of band, divide on the camera of the first high contrast visual detection means and the second high contrast visual detection means The infrared illumination light source of annular is not installed;First high contrast visual detection means and the second high contrast visual detection dress Put from the both sides of apple carries out high-contrast image collection, and the data is activation that will be gathered to control main frame, control to apple respectively Main frame processed judges whether apple surface has damage by carry out to high-contrast image feature recognition;If detecting damage, Control main frame controls unqualified apple ejecting device to stretch out, and apple is pushed out into unqualified apple slideway, and unqualified apple passes through Unqualified apple slideway falls into unqualified apple collection bin, and control main frame controlled level conveyer belt is opened;If control main frame is examined Measure apple not damage, illustrate that apple surface integrity degree is qualified, control main frame controlled level conveyer belt is opened, transmission apple is extremely Apple automatic bag sheathing device.
Further, apple automatic bag sheathing device is arranged on the end lower section of horizontal conveying belt, apple automatic bag sheathing device Including:Apple collection funnel 201, polybag bagging tool 202 and discharge belt 203 with heating function;Apple collection funnel The end lower section of horizontal conveying belt is arranged on, the apple for falling is taken for collecting horizontal transmission;Polybag with heating function The outlet lower section that bagging tool is arranged on apple collection funnel includes:First plastic sheet roller bearing 204, the second plastic sheet roller bearing, first Heated connector 205, the second heated connector and apple detection means 206;The first plastic sheet roller bearing is arranged on first and adds Thermal connector top, for exporting the first plastic sheet, the second plastic sheet roller bearing is arranged on the second heated connector top, uses In exporting the second plastic sheet;First heated connector and the second heated connector are vertical direction opening to setting Two semicircles that direction is disposed opposite to each other, wherein two semicircles above can heat the first plastic sheet and the second plastic sheet The semicircle of opening upwards is connected into, for catching the apple for falling;Apple detection means be arranged on the first heated connector and Second heated connector top, for detecting in heated connector whether there is the apple for falling caught, if having detected apple Really, apple detection means is to control main frame sending signal, control main frame control the first plastic sheet roller bearing and the second plastic sheet roller bearing Roll, export plastics, move down apple;Underlying two semicircles can connect the first plastic sheet and the heating of the second plastic sheet It is semicircle to be connected into that Open Side Down, is the first plastic sheet and the sealing of the second plastic sheet and cut-out plastics after being moved down for apple;Cut-out Afterwards, fallen by the apple that polybag is wrapped up and transported on exit conveyor apple automatic packing device.
Further, apple automatic packing device includes swinging slideway 301, inclines supporting plate 302 and pallet with groove 303;The initiating terminal for swinging slideway is connected to the end of exit conveyor, and the end for swinging slideway can swing;Tilt tray bag The hole that three rows can pass through apple is included, there is baffle plate to separate between every round;Pallet with groove is arranged on inclination supporting plate lower section Slant setting, and with incline supporting plate at a distance of the highly parallel of 5-15cm;Apple packing case is cased with outside pallet with groove;The One apple falls into swing slideway from exit conveyor, rolls into the first round of tilt tray by swinging slideway, and fall into the In one hole, and fall on pallet with groove;Second apple by identical mode, due to being filled out by apple in the first hole Full, second apple is fallen into the second hole, by that analogy, when row's apple is all filled up, is swung slideway and is rocked to the second round; After all holes of tilt tray are filled, apple vanning is completed.
A kind of apple automatic boxing method that can detect apple integrity degree is performed using apparatus above to comprise the following steps:
1) whether control main frame starts horizontal conveying belt, and monitors infrared detecting device and detected apple from conveyer belt By;When infrared detecting device has detected apple to be passed through, infrared detecting device is to control main frame sending signal, control main frame Controlled level conveyer belt suspends;
2) control main frame controls the first high contrast visual detection means and the second high contrast visual detection means from apple The both sides of fruit carry out high-contrast image collection, and the data is activation that will be gathered to control main frame, control main frame to apple respectively Judge whether apple surface has damage by carry out to high-contrast image feature recognition;If detecting damage, control master Machine controls unqualified apple ejecting device to stretch out, and apple is pushed out into unqualified apple slideway, and unqualified apple is by unqualified Apple slideway falls into unqualified apple collection bin, and control main frame controlled level conveyer belt is opened;If control main frame detects apple Fruit is not damaged, and illustrates that apple surface integrity degree is qualified, and control main frame controlled level conveyer belt is opened, and transmission apple to apple is certainly Dynamic bagging device;
3) whether there is the apple for falling caught in control main frame control apple detection means detection heated connector, if Apple is detected, apple detection means is to control main frame sending signal, control main frame control the first plastic sheet roller bearing and second Plastic sheet roller bearing is rolled, and exports plastics, moves down apple;Apple controls heated connector after moving down be the first plastic sheet and second Plastic sheet is sealed and cut-out plastics;After cut-out, fallen by the apple that polybag is wrapped up and transported on exit conveyor apple and fill automatically Case apparatus;
4) control main frame control swing slide egress be located at incline planker the first round, and detect the first round whether by Fill up;Whether control main frame control swings slideway and is rocked to the second round after the first round is filled, and detects the second round It is filled;Control main frame control swings slideway and is rocked to the 3rd round after the second round is filled, and detects that the 3rd round is It is no to be filled;After the 3rd round is filled, apple vanning is completed.
The present invention has the advantage that:
1) feature recognition can be carried out to the image of high contrast visual detection means using control main frame, is realized full-automatic Apple integrity degree detection is carried out while automatic packaging apple;
2) bagging can be carried out to apple automatically;
3) apple can be cased automatically.
Brief description of the drawings
The schematic top plan view of Fig. 1 present devices.
The schematic side view of Fig. 2 present devices.
Specific embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete Site preparation is described, it is clear that described embodiment is only a part of embodiment of the invention, rather than whole embodiments.
A kind of apple automatic boxing machine that can detect apple integrity degree is provided first, apple integrity degree can be automatically performed Detection and to apple automatic boxing, including:Apple integrity degree vision inspection apparatus 1, apple automatic bag sheathing device 2, apple is certainly Dynamic boxing apparatus 3 and control main frame.
Further, apple integrity degree vision inspection apparatus include:Horizontal conveying belt 101, infrared detecting device 102, the One high contrast visual detection means 103, the second high contrast visual detection means 104, the first infrared illumination light source 105, Second infrared illumination light source, unqualified apple ejecting device 106, unqualified apple collection bin 107;The hair of infrared detecting device Penetrate end and receiving terminal is separately mounted to the both sides of horizontal conveying belt, for detecting whether there is apple to pass through from conveyer belt;It is hot Outer detection means has detected apple when passing through, and infrared detecting device is to control main frame sending signal, control main frame controlled level Conveyer belt suspends;First high contrast visual detection means and the second high contrast visual detection means are separately positioned on level biography Send above the both sides of band, divide on the camera of the first high contrast visual detection means and the second high contrast visual detection means The infrared illumination light source of annular is not installed;First high contrast visual detection means and the second high contrast visual detection dress Put from the both sides of apple carries out high-contrast image collection, and the data is activation that will be gathered to control main frame, control to apple respectively Main frame processed judges whether apple surface has damage by carry out to high-contrast image feature recognition;If detecting damage, Control main frame controls unqualified apple ejecting device to stretch out, and apple is pushed out into unqualified apple slideway, and unqualified apple passes through Unqualified apple slideway falls into unqualified apple collection bin, and control main frame controlled level conveyer belt is opened;If control main frame is examined Measure apple not damage, illustrate that apple surface integrity degree is qualified, control main frame controlled level conveyer belt is opened, transmission apple is extremely Apple automatic bag sheathing device.
Further, apple automatic bag sheathing device is arranged on the end lower section of horizontal conveying belt, apple automatic bag sheathing device Including:Apple collection funnel 201, polybag bagging tool 202 and discharge belt 203 with heating function;Apple collection funnel The end lower section of horizontal conveying belt is arranged on, the apple for falling is taken for collecting horizontal transmission;Polybag with heating function The outlet lower section that bagging tool is arranged on apple collection funnel includes:First plastic sheet roller bearing 204, the second plastic sheet roller bearing, first Heated connector 205, the second heated connector and apple detection means 206;The first plastic sheet roller bearing is arranged on first and adds Thermal connector top, for exporting the first plastic sheet, the second plastic sheet roller bearing is arranged on the second heated connector top, uses In exporting the second plastic sheet;First heated connector and the second heated connector are vertical direction opening to setting Two semicircles that direction is disposed opposite to each other, wherein two semicircles above can heat the first plastic sheet and the second plastic sheet The semicircle of opening upwards is connected into, for catching the apple for falling;Apple detection means be arranged on the first heated connector and Second heated connector top, for detecting in heated connector whether there is the apple for falling caught, if having detected apple Really, apple detection means is to control main frame sending signal, control main frame control the first plastic sheet roller bearing and the second plastic sheet roller bearing Roll, export plastics, move down apple;Underlying two semicircles can connect the first plastic sheet and the heating of the second plastic sheet It is semicircle to be connected into that Open Side Down, is the first plastic sheet and the sealing of the second plastic sheet and cut-out plastics after being moved down for apple;Cut-out Afterwards, fallen by the apple that polybag is wrapped up and transported on exit conveyor apple automatic packing device.
Further, apple automatic packing device includes swinging slideway 301, inclines supporting plate 302 and pallet with groove 303;The initiating terminal for swinging slideway is connected to the end of exit conveyor, and the end for swinging slideway can swing;Tilt tray bag The hole that three rows can pass through apple is included, there is baffle plate to separate between every round;Pallet with groove is arranged on inclination supporting plate lower section Slant setting, and with incline supporting plate at a distance of the highly parallel of 5-15cm;Apple packing case is cased with outside pallet with groove;The One apple falls into swing slideway from exit conveyor, rolls into the first round of tilt tray by swinging slideway, and fall into the In one hole, and fall on pallet with groove;Second apple by identical mode, due to being filled out by apple in the first hole Full, second apple is fallen into the second hole, by that analogy, when row's apple is all filled up, is swung slideway and is rocked to the second round; After all holes of tilt tray are filled, apple vanning is completed.
A kind of apple automatic boxing method that can detect apple integrity degree is performed using apparatus above to comprise the following steps:
1) whether control main frame starts horizontal conveying belt, and monitors infrared detecting device and detected apple from conveyer belt By;When infrared detecting device has detected apple to be passed through, infrared detecting device is to control main frame sending signal, control main frame Controlled level conveyer belt suspends;
2) control main frame controls the first high contrast visual detection means and the second high contrast visual detection means from apple The both sides of fruit carry out high-contrast image collection, and the data is activation that will be gathered to control main frame, control main frame to apple respectively Judge whether apple surface has damage by carry out to high-contrast image feature recognition;If detecting damage, control master Machine controls unqualified apple ejecting device to stretch out, and apple is pushed out into unqualified apple slideway, and unqualified apple is by unqualified Apple slideway falls into unqualified apple collection bin, and control main frame controlled level conveyer belt is opened;If control main frame detects apple Fruit is not damaged, and illustrates that apple surface integrity degree is qualified, and control main frame controlled level conveyer belt is opened, and transmission apple to apple is certainly Dynamic bagging device;
3) whether there is the apple for falling caught in control main frame control apple detection means detection heated connector, if Apple is detected, apple detection means is to control main frame sending signal, control main frame control the first plastic sheet roller bearing and second Plastic sheet roller bearing is rolled, and exports plastics, moves down apple;Apple controls heated connector after moving down be the first plastic sheet and second Plastic sheet is sealed and cut-out plastics;After cut-out, fallen by the apple that polybag is wrapped up and transported on exit conveyor apple and fill automatically Case apparatus;
4) control main frame control swing slide egress be located at incline planker the first round, and detect the first round whether by Fill up;Whether control main frame control swings slideway and is rocked to the second round after the first round is filled, and detects the second round It is filled;Control main frame control swings slideway and is rocked to the 3rd round after the second round is filled, and detects that the 3rd round is It is no to be filled;After the 3rd round is filled, apple vanning is completed.
Embodiment described above is only that embodiments of the present invention are described, not to it is of the invention design and Scope is defined.On the premise of design concept of the present invention is not departed from, this area ordinary person is to technical scheme The all variations and modifications made, all should drop into protection scope of the present invention, and the scope of the present invention is by appended claims It is not that described above is limited, it is intended that all changes fallen in the implication and scope of the equivalency of claim are included In the present invention, any reference in claim should not be considered as the claim involved by limitation.

Claims (5)

1. a kind of apple automatic boxing method that can detect apple integrity degree, can be automatically performed the detection of ripe apples degree simultaneously To apple automatic boxing, it is characterised in that:A kind of apple automatic boxing machine that can detect apple integrity degree is provided first, it is described A kind of apple automatic boxing machine that can detect apple integrity degree includes:Apple integrity degree vision inspection apparatus (1), apple is automatic Bagging device (2), apple automatic packing device (3) and control main frame.
2. a kind of apple automatic boxing method that can detect apple integrity degree as claimed in claim 1, it is characterised in that:Apple Fruit integrity degree vision inspection apparatus include:Horizontal conveying belt (101), infrared detecting device (102), the inspection of the first high contrast visual Survey device (103), the second high contrast visual detection means (104), the first infrared illumination light source (105), the second infrared light Lighting source, unqualified apple ejecting device (106), unqualified apple collection bin (107);The transmitting terminal of infrared detecting device and Receiving terminal is separately mounted to the both sides of horizontal conveying belt, for detecting whether there is apple to pass through from conveyer belt;Work as infrared detection Device has detected apple when passing through, and infrared detecting device is to control main frame sending signal, control main frame controlled level conveyer belt Pause;First high contrast visual detection means and the second high contrast visual detection means are separately positioned on horizontal transmission and take It is respectively mounted on the camera of the both sides of side, the first high contrast visual detection means and the second high contrast visual detection means There is the infrared illumination light source of annular;First high contrast visual detection means and the second high contrast visual detection means are from apple The both sides of fruit carry out high-contrast image collection, and the data is activation that will be gathered to control main frame, control main frame to apple respectively Judge whether apple surface has damage by carry out to high-contrast image feature recognition;If detecting damage, control master Machine controls unqualified apple ejecting device to stretch out, and apple is pushed out into unqualified apple slideway, and unqualified apple is by unqualified Apple slideway falls into unqualified apple collection bin, and control main frame controlled level conveyer belt is opened;If control main frame detects apple Fruit is not damaged, and illustrates that apple surface integrity degree is qualified, and control main frame controlled level conveyer belt is opened, and transmission apple to apple is certainly Dynamic bagging device.
3. a kind of apple automatic boxing method that can detect apple integrity degree as claimed in claim 2, it is characterised in that:Apple Fruit automatic bag sheathing device is arranged on the end lower section of horizontal conveying belt, and apple automatic bag sheathing device includes:Apple collection funnel 201, polybag bagging tool (202) and discharge belt (203) with heating function;Apple collection funnel is arranged on horizontal transmission The end lower section of band, the apple for falling is taken for collecting horizontal transmission;Polybag bagging tool with heating function is arranged on apple The outlet lower section of fruit collection funnel includes:First plastic sheet roller bearing (204), the second plastic sheet roller bearing, the first heated connector (205), the second heated connector and apple detection means (206);The first plastic sheet roller bearing is arranged on the first heating connection Device top, for exporting the first plastic sheet, the second plastic sheet roller bearing is arranged on the second heated connector top, for exporting Second plastic sheet;First heated connector and the second heated connector are vertical direction opening direction phase to setting Two semicircles for setting are carried on the back, wherein two semicircles above can connect into the first plastic sheet and the heating of the second plastic sheet The semicircle of opening upwards, for catching the apple for falling;Apple detection means is arranged on the first heated connector and second and adds Thermal connector top, for detecting in heated connector whether there is the apple for falling caught, if having detected apple, apple Detection means is to control main frame sending signal, and control main frame controls the first plastic sheet roller bearing and the second plastic sheet roller bearing to roll, defeated Go out plastics, move down apple;Underlying two semicircles can connect into open the first plastic sheet and the heating of the second plastic sheet Mouth is the first plastic sheet and the sealing of the second plastic sheet and cut-out plastics to lower semi-circular, after being moved down for apple;After cut-out, moulded The apple of pocket parcel is fallen and transported on exit conveyor apple automatic packing device.
4. a kind of apple automatic boxing method that can detect apple integrity degree as claimed in claim 3, it is characterised in that:Apple Fruit automatic packing device includes swinging slideway (301), inclines supporting plate (302) and pallet with groove (303);Swing rising for slideway Top is connected to the end of exit conveyor, and the end for swinging slideway can swing;Tilt tray can make apple including three rows The hole for passing through, has baffle plate to separate between every round;Pallet with groove is arranged on inclination supporting plate inclined downward and places, and with inclination Supporting plate is highly parallel at a distance of 5-15cm's;Apple packing case is cased with outside pallet with groove;First apple is passed from output Send band to fall into swing slideway, the first round of tilt tray is rolled into by swinging slideway, and fall into the first hole, and it is recessed in band to fall On the pallet of groove;By identical mode, due to being filled up by apple in the first hole, second apple falls into second apple In second hole, by that analogy, when row's apple is all filled up, swing slideway and be rocked to the second round;When owning for tilt tray After hole is filled, apple vanning is completed.
5. a kind of apple automatic boxing method that can detect apple integrity degree as claimed in claim 4, it is characterised in that bag Include following steps:
1) whether control main frame starts horizontal conveying belt, and monitors infrared detecting device and detected apple and passed through from conveyer belt Cross;When infrared detecting device has detected apple to be passed through, infrared detecting device is to control main frame sending signal, control main frame control Horizontal conveying belt pause processed;
2) control main frame controls the first high contrast visual detection means and the second high contrast visual detection means from apple Both sides carry out high-contrast image collection, and the data is activation that will be gathered to control main frame to apple respectively, and control main frame passes through Feature recognition is carried out to high-contrast image judges whether apple surface has damage;If detecting damage, control main frame control Make unqualified apple ejecting device to stretch out, apple is pushed out to unqualified apple slideway, unqualified apple is by unqualified apple Slideway falls into unqualified apple collection bin, and control main frame controlled level conveyer belt is opened;If control main frame detects apple do not had There is damage, illustrate that apple surface integrity degree is qualified, control main frame controlled level conveyer belt is opened, transmission apple to apple covers automatically Bagging apparatus;
3) whether there is the apple for falling caught in control main frame control apple detection means detection heated connector, if detection To there is apple, apple detection means is to control main frame sending signal, control main frame control the first plastic sheet roller bearing and the second plastics Piece roller bearing is rolled, and exports plastics, moves down apple;Apple controls heated connector after moving down be the first plastic sheet and the second plastics Piece is sealed and cut-out plastics;After cut-out, fallen by the apple that polybag is wrapped up and transported on exit conveyor apple automatic boxing dress Put;
4) control main frame control swings slide egress and is located at the first round for inclining planker, and detects whether the first round is filled out It is full;Control main frame control swings slideway and is rocked to the second round after the first round is filled, and detect the second round whether by Fill up;Whether control main frame control swings slideway and is rocked to the 3rd round after the second round is filled, and detects the 3rd round It is filled;After the 3rd round is filled, apple vanning is completed.
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