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 PDFInfo
- 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
- Authority
- CN
- China
- Prior art keywords
- apple
- main frame
- control main
- plastic sheet
- detection means
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 238000000034 method Methods 0.000 title claims abstract description 17
- 238000001514 detection method Methods 0.000 claims abstract description 62
- 230000000007 visual effect Effects 0.000 claims abstract description 32
- 238000012856 packing Methods 0.000 claims abstract description 11
- 238000007689 inspection Methods 0.000 claims abstract description 8
- 239000002985 plastic film Substances 0.000 claims description 52
- 235000013399 edible fruits Nutrition 0.000 claims description 15
- 239000004033 plastic Substances 0.000 claims description 14
- 229920003023 plastic Polymers 0.000 claims description 14
- 238000010438 heat treatment Methods 0.000 claims description 11
- 238000005286 illumination Methods 0.000 claims description 8
- 230000004913 activation Effects 0.000 claims description 6
- 230000005540 biological transmission Effects 0.000 claims description 6
- 230000005571 horizontal transmission Effects 0.000 claims description 5
- 238000007789 sealing Methods 0.000 claims description 3
- 241000220225 Malus Species 0.000 claims 82
- 235000021016 apples Nutrition 0.000 claims 1
- 230000000630 rising effect Effects 0.000 claims 1
- 230000007547 defect Effects 0.000 abstract description 8
- 238000004806 packaging method and process Methods 0.000 abstract description 4
- 238000000605 extraction Methods 0.000 abstract 1
- 238000013461 design Methods 0.000 description 2
- 230000000977 initiatory effect Effects 0.000 description 2
- 241000894006 Bacteria Species 0.000 description 1
- 238000004458 analytical method Methods 0.000 description 1
- 230000002950 deficient Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000002474 experimental method Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 239000011159 matrix material Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000002360 preparation method Methods 0.000 description 1
- 238000004321 preservation Methods 0.000 description 1
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/84—Systems specially adapted for particular applications
- G01N21/88—Investigating the presence of flaws or contamination
- G01N21/95—Investigating the presence of flaws or contamination characterised by the material or shape of the object to be examined
Landscapes
- Physics & Mathematics (AREA)
- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Chemical & Material Sciences (AREA)
- Analytical Chemistry (AREA)
- Biochemistry (AREA)
- General Health & Medical Sciences (AREA)
- General Physics & Mathematics (AREA)
- Immunology (AREA)
- Pathology (AREA)
- Packaging Of Special Articles (AREA)
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
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.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710141403.1A CN106896114B (en) | 2017-03-10 | 2017-03-10 | A kind of apple automatic boxing method can detecte apple integrity degree |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710141403.1A CN106896114B (en) | 2017-03-10 | 2017-03-10 | A kind of apple automatic boxing method can detecte apple integrity degree |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106896114A true CN106896114A (en) | 2017-06-27 |
| CN106896114B CN106896114B (en) | 2019-05-17 |
Family
ID=59192781
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710141403.1A Active CN106896114B (en) | 2017-03-10 | 2017-03-10 | A kind of apple automatic boxing method can detecte apple integrity degree |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106896114B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109827971A (en) * | 2019-03-19 | 2019-05-31 | 湖州灵粮生态农业有限公司 | A kind of method of non-destructive testing fruit surface defect |
Citations (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH10113619A (en) * | 1996-10-11 | 1998-05-06 | Nambu Electric Co Ltd | Sorting and collecting device for chicken eggs or the like |
| JP2000193602A (en) * | 1998-12-28 | 2000-07-14 | Hiroshi Katagawa | External appearance inspecting device |
| JP2000235005A (en) * | 1999-02-15 | 2000-08-29 | Nidec Tosok Corp | Egg inspection device |
| WO2006129391A1 (en) * | 2005-06-03 | 2006-12-07 | Mayekawa Mfg.Co., Ltd. | Apparatus for detecting contaminants in food |
| US20080217216A1 (en) * | 2005-02-17 | 2008-09-11 | Fps Food Processing Systems B.V. | Apparatus for Transferring Products |
| CN101949686A (en) * | 2010-08-02 | 2011-01-19 | 扬州福尔喜果蔬汁机械有限公司 | Online nondestructive testing (NDT) method and device for comprehensive internal/external qualities of fruits |
| CN103101638A (en) * | 2013-02-22 | 2013-05-15 | 郝保军 | Bagging and encasement all-in-one machine |
| CN103143508A (en) * | 2013-03-15 | 2013-06-12 | 上海理工大学 | Machine-vision-based online grading and packaging production line for bananas |
| CN103323457A (en) * | 2013-05-20 | 2013-09-25 | 中国农业大学 | Fruit appearance defect real-time on-line detection system and detection method |
| CN103418554A (en) * | 2013-08-27 | 2013-12-04 | 华南农业大学 | Control system and control method of small-size agricultural product intelligent sorting machine based on DSP |
| CN103521456A (en) * | 2013-10-25 | 2014-01-22 | 尹伟彬 | Automatic fruit screening and casing device |
| CN103949409A (en) * | 2014-04-21 | 2014-07-30 | 三峡大学 | Automatic fruit sorting system |
| CN104646305A (en) * | 2013-11-25 | 2015-05-27 | 王健 | Machine vision-based apple online automatic classification separation system |
-
2017
- 2017-03-10 CN CN201710141403.1A patent/CN106896114B/en active Active
Patent Citations (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH10113619A (en) * | 1996-10-11 | 1998-05-06 | Nambu Electric Co Ltd | Sorting and collecting device for chicken eggs or the like |
| JP2000193602A (en) * | 1998-12-28 | 2000-07-14 | Hiroshi Katagawa | External appearance inspecting device |
| JP2000235005A (en) * | 1999-02-15 | 2000-08-29 | Nidec Tosok Corp | Egg inspection device |
| US20080217216A1 (en) * | 2005-02-17 | 2008-09-11 | Fps Food Processing Systems B.V. | Apparatus for Transferring Products |
| WO2006129391A1 (en) * | 2005-06-03 | 2006-12-07 | Mayekawa Mfg.Co., Ltd. | Apparatus for detecting contaminants in food |
| CN101949686A (en) * | 2010-08-02 | 2011-01-19 | 扬州福尔喜果蔬汁机械有限公司 | Online nondestructive testing (NDT) method and device for comprehensive internal/external qualities of fruits |
| CN103101638A (en) * | 2013-02-22 | 2013-05-15 | 郝保军 | Bagging and encasement all-in-one machine |
| CN103143508A (en) * | 2013-03-15 | 2013-06-12 | 上海理工大学 | Machine-vision-based online grading and packaging production line for bananas |
| CN103323457A (en) * | 2013-05-20 | 2013-09-25 | 中国农业大学 | Fruit appearance defect real-time on-line detection system and detection method |
| CN103418554A (en) * | 2013-08-27 | 2013-12-04 | 华南农业大学 | Control system and control method of small-size agricultural product intelligent sorting machine based on DSP |
| CN103521456A (en) * | 2013-10-25 | 2014-01-22 | 尹伟彬 | Automatic fruit screening and casing device |
| CN104646305A (en) * | 2013-11-25 | 2015-05-27 | 王健 | Machine vision-based apple online automatic classification separation system |
| CN103949409A (en) * | 2014-04-21 | 2014-07-30 | 三峡大学 | Automatic fruit sorting system |
Non-Patent Citations (4)
| Title |
|---|
| BAOHUA ZHANG,ET AL: "Principles, developments and applications of computer vision for external quality inspection of fruits and vegetables: A review", 《FOOD RESEARCH INTERNATIONAL》 * |
| YUAN YUAN PU,ET AL: "Recent Progress of Hyperspectral Imaging on Quality and Safety Inspection of Fruits and Vegetables: A Review", 《COMPREHENSIVE REVIEWS IN FOOD SCIENCEAND FOOD SAFETY》 * |
| 王鑫 等: "基于视觉技术的苹果分拣系统设计", 《中国农机化学报》 * |
| 韦衡冰 等: "沙糖桔分拣分级装置研究和设计", 《中国农机化学报》 * |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109827971A (en) * | 2019-03-19 | 2019-05-31 | 湖州灵粮生态农业有限公司 | A kind of method of non-destructive testing fruit surface defect |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106896114B (en) | 2019-05-17 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106697380B (en) | A kind of apple automatic boxing machine can detecte apple integrity degree and maturity | |
| CN106742205B (en) | A kind of apple automatic boxing method can detecte apple integrity degree and maturity | |
| CN104209273B (en) | A defect detecting device for a bottle cap | |
| CN203508418U (en) | Device for detecting appearance of tobacco packaging box | |
| CN206395010U (en) | Automatic several bottling machines | |
| CN106829082A (en) | A kind of apple automatic boxing machine that can detect apple integrity degree | |
| CN107185858A (en) | A kind of fruit detection hierarchy system and method | |
| CN106275626B (en) | Paper bowl, dixie cup production line | |
| CN207076673U (en) | A kind of mushroom automatic sorting device | |
| CN104554910A (en) | Packaged food packaging system | |
| CN204107867U (en) | A kind of bottle cap defect detecting device | |
| CN107127163A (en) | A kind of Novel button sorting equipment | |
| CN208050395U (en) | Shrivelled walnut multi-channel detection and sorting unit | |
| CN105129154B (en) | A kind of CCD automatically detects counting packing machine | |
| CN112893190A (en) | Plum sorting machine | |
| CN106896114A (en) | A kind of apple automatic boxing method that can detect apple integrity degree | |
| CN109332200B (en) | On-site detection and classification method for quality of mobile citrus | |
| CN109533444B (en) | Method for packing selling goods | |
| CN113333331A (en) | Identification and classification device and method for waste plastic bottles | |
| FR2498089A1 (en) | METHOD AND APPARATUS FOR AUTOMATICALLY SORTING PACKAGING MIXTURES AND THE LIKE USED OR NOT | |
| CN209271938U (en) | A kind of improvement device of jujube pickout apparatus | |
| CN106881279A (en) | A kind of basketball stacking method that can detect basketball circularity and surface defect | |
| CN206951602U (en) | A kind of Novel button sorting equipment | |
| CN212568453U (en) | Fruit maturity detection device | |
| CN214865393U (en) | Seasoning outer packaging bag detecting and eliminating system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| TA01 | Transfer of patent application right |
Effective date of registration: 20190419 Address after: 755004 Fengtai Village, Yongkang Town, Shapotou District, Zhongwei City, Ningxia Hui Autonomous Region Applicant after: Ningxia Nanshan sunny fruit industry Co., Ltd. Address before: 300384 innovation education base No. 20 Jinjing Road, Xiqing District, Tianjin Applicant before: Hu Ke |
|
| TA01 | Transfer of patent application right | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |