CN106944369B - Full-automatic female and male silkworm cocoon sorting machine - Google Patents
Full-automatic female and male silkworm cocoon sorting machine Download PDFInfo
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- CN106944369B CN106944369B CN201710331920.5A CN201710331920A CN106944369B CN 106944369 B CN106944369 B CN 106944369B CN 201710331920 A CN201710331920 A CN 201710331920A CN 106944369 B CN106944369 B CN 106944369B
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- 241000255789 Bombyx mori Species 0.000 title claims abstract description 70
- 230000007246 mechanism Effects 0.000 claims abstract description 32
- 238000001514 detection method Methods 0.000 claims abstract description 16
- 238000004064 recycling Methods 0.000 claims abstract description 11
- 238000001917 fluorescence detection Methods 0.000 claims description 14
- 230000003287 optical effect Effects 0.000 claims description 7
- 238000005520 cutting process Methods 0.000 claims description 5
- 238000011084 recovery Methods 0.000 claims description 3
- 238000012545 processing Methods 0.000 claims description 2
- 239000000126 substance Substances 0.000 claims description 2
- 230000005540 biological transmission Effects 0.000 abstract description 9
- 238000005516 engineering process Methods 0.000 description 8
- 238000010586 diagram Methods 0.000 description 4
- 238000003698 laser cutting Methods 0.000 description 4
- 238000000034 method Methods 0.000 description 4
- 230000009471 action Effects 0.000 description 3
- 102000034287 fluorescent proteins Human genes 0.000 description 3
- 108091006047 fluorescent proteins Proteins 0.000 description 3
- 230000006872 improvement Effects 0.000 description 3
- 239000011324 bead Substances 0.000 description 2
- 230000005284 excitation Effects 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 239000013307 optical fiber Substances 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000029918 bioluminescence Effects 0.000 description 1
- 238000005415 bioluminescence Methods 0.000 description 1
- 230000003749 cleanliness Effects 0.000 description 1
- 239000003086 colorant Substances 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000012053 enzymatic serum creatinine assay Methods 0.000 description 1
- 238000001914 filtration Methods 0.000 description 1
- 238000005286 illumination Methods 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
- B07C5/34—Sorting according to other particular properties
- B07C5/342—Sorting according to other particular properties according to optical properties, e.g. colour
- B07C5/3422—Sorting according to other particular properties according to optical properties, e.g. colour using video scanning devices, e.g. TV-cameras
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01K—ANIMAL HUSBANDRY; AVICULTURE; APICULTURE; PISCICULTURE; FISHING; REARING OR BREEDING ANIMALS, NOT OTHERWISE PROVIDED FOR; NEW BREEDS OF ANIMALS
- A01K67/00—Rearing or breeding animals, not otherwise provided for; New or modified breeds of animals
- A01K67/033—Rearing or breeding invertebrates; New breeds of invertebrates
- A01K67/04—Silkworms
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Abstract
The invention discloses a full-automatic female and male silkworm cocoon sorting machine, which comprises: a conveying mechanism: a checker cocooning frame disk for bearing silkworm cocoons to be sorted is positioned on the transmission mechanism, the checker cocooning frame disk is transmitted by the transmission mechanism, and a darkroom is fixed on a transmission path of a conveyor belt of the transmission mechanism; a detection module: the detection module is positioned at the upper part of the darkroom and is used for detecting and identifying the silkworm cocoons to be sorted on the checker cocooning frame tray to confirm the sex of the silkworm cocoons to be sorted; a sorting mechanism: and sorting the cocoons according to the detection and identification results of the cocoons to be sorted, so that the female cocoons enter the female cocoon recycling box, and the male cocoons enter the female cocoon recycling box. The invention has the advantages of high efficiency, high accuracy and low cost.
Description
Technical Field
The invention relates to the technical field of silkworm cocoon sorting, in particular to a full-automatic female and male silkworm cocoon sorting machine.
Background
The quality of the cocoon silk of the male cocoon is far superior to that of the female cocoon, the silk reeling of the female cocoon and the male cocoon can reduce the silk inclusion, and the quality of the raw silk can be greatly improved if the female cocoon and the male cocoon are sorted before the cocoon is boiled. But no efficient, accurate and low-cost male and female silkworm cocoon sorting machine exists in the market at present.
The annual output of silk in China is 64-65 ten thousand tons, and the output of raw silk and silk is stabilized at about 14 ten thousand tons and 7 hundred million meters, which is stable at the first place in the world. With the improvement of living standard of people, the quality requirements of people on silk products (such as silk quilts, clothes, scarves, silk masks and the like) are higher and higher, and especially the European market has great demand on high-grade silk products.
The quality of the silk has a close relationship with the male and female silkworm cocoons, wherein the silk produced by the male silkworm can be used for producing 6A-grade high-quality silk products by virtue of the advantages of fine fineness, friction resistance, excellent cleanliness, good elasticity and the like, and is deeply favored by consumers. However, the 6A-grade raw silk yield is low in China, most of the raw silk is exported, and the domestic and foreign markets are in the state of short supply and short demand. But at present, male and female cocoons cannot be sorted out under the condition of not damaging the silkworm cocoons. Therefore, a machine capable of rapidly and accurately sorting male and female cocoons under the condition of not damaging the cocoons is urgently needed in the market at present, so that silk with higher quality is produced, the production efficiency is improved, and the situation that supply and demand of high-grade silk products are insufficient in the market at present is improved.
The device for sorting male and female silkworm cocoons by screening the silkworm cocoons according to colors through ultraviolet irradiation is available in the market, but the method has great damage to the silkworm cocoons. In addition, instruments for analyzing and discriminating by utilizing near-infrared equipment and X-ray equipment are provided, although the accuracy is improved, the near-infrared spectrometer, the X-ray detector and the like are expensive, are not suitable for silkworm farms and individual farmers, and are not beneficial to popularization in the market.
Disclosure of Invention
In view of the above, the present invention provides a full-automatic male and female cocoon sorting machine with high efficiency, high accuracy and low cost, which is used to solve the technical problem in the prior art that male and female cocoons are not easy to sort, thereby facilitating the improvement of the yield of male cocoon silk.
The technical scheme of the invention is that a full-automatic female and male silkworm cocoon separator with the following structure is provided, which comprises:
a conveying mechanism: a checker cocooning frame disk for bearing silkworm cocoons to be sorted is positioned on the transmission mechanism, the checker cocooning frame disk is transmitted by the transmission mechanism, and a darkroom is fixed on a transmission path of a conveyor belt of the transmission mechanism;
a detection module: the detection module is positioned at the upper part of the darkroom and used for detecting and identifying the sexes of the cocoons to be sorted on the checker cocooning frame tray so as to confirm the sex of the cocoons to be sorted;
a sorting mechanism: and sorting the cocoons according to the detection and identification results of the cocoons to be sorted, so that the female cocoons enter the female cocoon recycling box, and the male cocoons enter the female cocoon recycling box.
Optionally, the detection module comprises a first module and a second module with a fluorescence recognition function, the first module is in front, the second module is behind, the first module recognizes double cocoons and next cocoons on the checker cocooning frame disk, determines coordinate positions of the double cocoons and the next cocoons on the checker cocooning frame disk, the second module recognizes female cocoons and male cocoons on the checker cocooning frame disk, and determines coordinate positions of the female cocoons and the male cocoons on the checker cocooning frame disk.
Optionally, the sorting mechanism is an integrated laser head, and the laser head cuts the positioning silks between the cocoons and the cocooning frame lattices according to the position information of the target cocoons, so that the target cocoons fall into the corresponding recovery boxes.
Optionally, the first module is a common CCD industrial camera, and the second module is a CCD industrial camera with a fluorescence detection path.
Optionally, the second module identifies the silkworm cocoons through machine vision, the silkworm cocoons presenting orange color are female, the silkworm cocoons not presenting orange color are male, the identification result is sent to the sorting mechanism, and the sorting mechanism sorts and recovers the silkworm cocoons.
Optionally, a light source is disposed on the CCD industrial camera with the fluorescence detection optical path, during fluorescence detection, after the silkworm cocoon is irradiated by light with a wavelength of 554NM, the bioluminescent substance in the female body emits emission light with a wavelength of 586NM, and the CCD camera captures bioluminescence by loading a small-bandwidth cut-off fluorescence filter with a central wavelength of 586 NM. The light path design of this mechanism is: a CREE CXA2530 high-power LED lamp is loaded with a 554NM narrow-band cut-off fluorescent filter as a light source, and the 554NM narrow-band filter ensures the purity of the light source. The light source irradiates on the two color image mirrors and is reflected to the silkworm cocoon by the spectroscope. And detecting the silkworm cocoons by a 586NM camera through a dichroscope.
Optionally, a CCD industrial camera with a fluorescence detection light path is used for collecting images of the silkworm cocoons on the conveyor belt, the images are processed through algorithm programming, male and female silkworm cocoons are judged, a data table is established through MYSQL, and finally the integrated laser head is controlled by the single chip microcomputer to respectively cut the male and female silkworm cocoons to enable the male and female silkworm cocoons to fall into corresponding recycling boxes.
Compared with the prior art, the structure of the invention has the following advantages: because the biological fluorescent protein is implanted into the female silkworm cocoons, the biological fluorescent protein technology is combined with the machine vision technology, the optical filter with specific wavelength is added on the camera and the light source, the interference of non-excitation light wavelength light is eliminated, and the accurate and high-speed identification of the female silkworm cocoons and the male silkworm cocoons is realized; a CO2 laser cutting technology is adopted, single laser is rectified, coupled and split, and then is transmitted to a laser head through an optical fiber, so that male and female cocoons are picked accurately and at high speed respectively, and the grid cocooning frame tray and the cocoons are prevented from being damaged. The invention has the advantages of high efficiency, high accuracy and low cost.
Drawings
FIG. 1 is a schematic structural diagram of a full-automatic female and male silkworm cocoon separator according to the present invention;
FIG. 2 is a side view of the present invention;
FIG. 3 is a schematic diagram of an integrated laser head;
FIG. 4 is a diagram showing a cutting state of the integrated laser head;
FIG. 5 is a schematic diagram of the structure of a second module;
fig. 6 is a schematic structural view of the transfer mechanism.
Shown in the figure, 1: a pulley; 2: a checker cocooning frame; 2-1: silkworm cocoon; 2-2: positioning silk; 2-3: silkworm chrysalis; 3: a horizontal positioning plate of the checker cocooning frame; 4: a common CCD industrial camera system; 5: a fluorescence detection system; 5-1: LED lamp bead: 5-2: a green light fluorescent filter; 5-3: a beam splitter; 5-4: an orange fluorescent filter; 5-5: a fluorescence detection camera; 6: an integrated laser head; 6-1: a laser beam; 6-2: cutting a track by laser; 7: a conveyor belt; 8: a silkworm cocoon collection box; 9: a darkroom; 10: a longitudinal positioning plate of the checker cocooning frame.
Detailed Description
Preferred embodiments of the present invention will be described in detail below with reference to the accompanying drawings, but the present invention is not limited to only these embodiments. The invention is intended to cover alternatives, modifications, equivalents and alternatives which may be included within the spirit and scope of the invention.
In the following description of the preferred embodiments of the present invention, specific details are set forth in order to provide a thorough understanding of the present invention, and it will be apparent to those skilled in the art that the present invention may be practiced without these specific details.
The invention is described in more detail in the following paragraphs by way of example with reference to the accompanying drawings. It should be noted that the drawings are in a simplified form and are not to precise scale, which is only used for convenience and clarity to assist in describing the embodiments of the present invention.
Referring to fig. 1 and 2, the structure of the full-automatic female and male silkworm cocoon sorting machine of the invention is illustrated, comprising:
a conveying mechanism: a checker cocooning frame disk bearing cocoons to be sorted is positioned on the conveying mechanism, the checker cocooning frame disk is conveyed by the conveying mechanism, and a darkroom is fixed on a conveying path of a conveying belt 7 of the conveying mechanism;
a detection module: a detection module positioned at the upper part of the darkroom 9 and used for detecting and identifying the sexes of the cocoons to be sorted on the cocooning frame tray to confirm the sex of the cocoons to be sorted when the conveying mechanism conveys the cocooning frame tray 2 into the darkroom 9;
a sorting mechanism: and sorting the silkworm cocoons according to the detection and identification results of the silkworm cocoons to be sorted, so that the female cocoons enter the female cocoon recycling box, and the male cocoons enter the female cocoon recycling box.
The detection module comprises a first module 4 and a second module (namely a fluorescence detection system 5) with a fluorescence recognition function, wherein the first module is arranged in front of the second module, the second module is arranged behind the first module, the first module is used for recognizing double cocoons and next cocoons on a checker cocooning frame disk, the coordinate positions of the double cocoons and the next cocoons on the checker cocooning frame disk are determined, the second module is used for recognizing female cocoons and male cocoons on the checker cocooning frame disk, and the coordinate positions of the female cocoons and the male cocoons on the checker cocooning frame disk are determined.
The sorting mechanism is an integrated laser head, and the laser head cuts positioning silks between the cocoons and the cocooning frame lattices according to the position information of the target cocoons, so that the target cocoons fall into the corresponding recovery boxes.
Placing a checker cocooning frame disk 2 to be picked into an initial position, and accurately positioning the checker cocooning frame disk 2 by a horizontal checker cocooning frame positioning plate 3; the conveying device 7 acts, the checker cocooning frame plate 2 enters a dark room 9, a common CCD industrial camera system 4 works to find double cocoons and next cocoons, and the coordinate positions of the double cocoons and the next cocoons on the checker cocooning frame are determined; an industrial camera 6 with a fluorescence detection optical path works to determine the coordinate positions of female cocoons and male cocoons on the checker cocooning frame; the checker cocooning frames enter the lower part of the integrated laser head 6, the laser head 6 works to pick double-cocoon, next-production cocoon, female cocoon and male cocoon in sequence; the cocoon collection box 8 is composed of four parts, and the cocoon collection box 8 acts to respectively receive the double-cocoon, the next cocoon, the female cocoon and the male cocoon. The picked checker cocooning frames 2 continue to advance under the action of the conveyer belt 7 and fall into a cocooning frame box (not shown). The cocoon collection box 8 is composed of four parts (not shown), and the four parts of the cocoon collection box 8 can move under the action of the driving device, are sequentially positioned under the integrated laser head 6 and respectively receive double-cocoon cocoons, next-product cocoons, female cocoons and male cocoons.
Referring to fig. 3 and 4, a cocoon cutting state of the integrated laser head is illustrated. The laser cutting is fast, and the damage to the silkworm cocoons or the checker cocooning frames caused by direct picking is avoided. The national standard grid blocks are 12 × 13=156 grids or 9 × 18=162 grids. Therefore, the number of the laser heads is 156 or 162 according to the model number of the checker cocooning frames. When picking silkworm cocoons, the laser heads above the silkworm cocoons are electrified to work to form laser beams 6-1, the laser heads move on the horizontal plane to form laser cutting tracks 6-2, and the silks 2 are positioned - 2, cutting off, and successfully picking the silkworm cocoons 2-1 from the checker cocooning frame 2.
As shown in FIG. 5, illustrating the structural principle of the second module, female silkworm cocoons can express orange fluorescence throughout the life cycle. Light emitted by the LED lamp beads 5-1 passes through the green light fluorescent filter 5-2 to generate green light with the wavelength of 554nm and the bandwidth of 30nm, the green light passes through the spectroscope 5-3 to irradiate the silkworm cocoon 2-1, and if the silkworm chrysalis 2-3 is female, orange fluorescence with the wavelength of 586nm can be excited. The orange fluorescent filter 5-4 is a filter with the central wavelength of 586nm and the bandwidth of 20nm, can eliminate the interference of other wavelengths, and can only pass the orange light with the wavelength of 586nm and the bandwidth of 20 nm. The fluorescence detection camera 5-5 determines that the silkworm cocoon is a female silkworm cocoon by identifying 586mn of orange light waves, otherwise, the silkworm cocoon is a male silkworm cocoon. Therefore, the combination of the machine vision recognition technology and the device such as the illumination and the filtering can realize the high-speed recognition of the male and female cocoons.
The method comprises the steps of collecting images of the silkworm cocoons on a conveying belt by using a CCD camera, processing the images through algorithm programming, judging the male and female silkworm cocoons, establishing a data table by using MYSQL, and finally, controlling a sorting mechanism by using a single chip microcomputer to sort the male and female silkworm cocoons.
Referring to fig. 6, there is illustrated a structure of a conveying mechanism, in which checker cocooning frames to be picked are put into a starting position a, a detection position B, a picking position C, and a cocooning frame dropping position D on a conveyor belt 7. The distance between the two transverse positioning plates 7 is exactly equal to the length of the checker cocooning frame plate 2; the two conveying belts are both provided with longitudinal positioning plates, and the distance between the longitudinal positioning plates 10 is just equal to the width of the checker cocooning frame plate 2. Under the action of the transverse positioning plate 3 and the longitudinal positioning plate 10, the checker cocooning frame plate 2 always keeps an accurate position, and the accurate checking and picking positions are ensured. The longitudinal positioning plates 10 are multiple, play a role in positioning at two sides of the checker cocooning frames in the length direction, ensure the number, and each side of two sides of the checker cocooning frame disk 2 is provided with at least 3 longitudinal positioning plates to ensure the accurate positioning of the checker cocooning frame disk 2 in the width direction. The two transmission belts 7 are ensured to be synchronous, and the deviation of the checker cocooning frames is avoided.
The invention is an optical-mechanical-electrical integration product integrating the functions of machine vision, intelligent sorting and the like, can efficiently and accurately detect and remove malformed cocoons, rotten cocoons and double-cocoon cocoons, and can quickly and accurately sort male and female cocoons. The specific technology has the following two points: 1. combining a biological fluorescent protein technology with a machine vision technology, adding optical filters with specific wavelengths on a camera and a light source, eliminating the interference of non-excitation light wavelength light, and realizing accurate and high-speed identification of male and female silkworm cocoons; 2. the traditional physical and contact type silkworm cocoon picking method is abandoned, a CO2 laser cutting technology is adopted, single laser is rectified, coupled and split, and is transmitted to a laser head through an optical fiber, so that female and male silkworm cocoons are picked accurately and at high speed respectively, and damage to a checker cocooning frame plate and the silkworm cocoons is avoided.
Although the embodiments have been described and illustrated separately, it will be apparent to those skilled in the art that some common techniques may be substituted and integrated between the embodiments, and reference may be made to one of the embodiments not explicitly described, or to another embodiment described.
The above-described embodiments do not limit the scope of the present invention. Any modification, equivalent replacement, and improvement made within the spirit and principle of the above-described embodiments should be included in the protection scope of the technical solution.
Claims (3)
1. A full-automatic female and male silkworm cocoon sorting machine comprises:
a conveying mechanism: a checker cocooning frame disk bearing cocoons to be sorted is positioned on the conveying mechanism, the checker cocooning frame disk is conveyed by the conveying mechanism, and a darkroom is fixed on a conveying path of a conveying belt of the conveying mechanism;
a detection module: the detection module is positioned at the upper part of the darkroom and used for detecting and identifying the sexes of the cocoons to be sorted on the checker cocooning frame tray so as to confirm the sex of the cocoons to be sorted;
a sorting mechanism: sorting the silkworm cocoons according to the detection and identification results of the silkworm cocoons to be sorted, so that female cocoons enter a female cocoon recycling box, and male cocoons enter a female cocoon recycling box;
the detection module comprises a first module and a second module with a fluorescence identification function, wherein the first module is arranged in front of the second module, the second module is arranged behind the first module, the first module is used for identifying double cocoons and next cocoons on a checker cocooning frame disk, determining the coordinate positions of the double cocoons and the next cocoons on the checker cocooning frame disk, and the second module is used for identifying female cocoons and male cocoons on the checker cocooning frame disk, and determining the coordinate positions of the female cocoons and the male cocoons on the checker cocooning frame disk;
the sorting mechanism is an integrated laser head, and the laser head cuts positioning silks between the cocoons and the cocooning frame lattices according to the position information of the target cocoons, so that the target cocoons fall into corresponding recovery boxes;
the second module identifies the silkworm cocoons through machine vision, the silkworm cocoons presenting orange color are female, the silkworm cocoons not presenting orange color are male, the identification result is sent to the sorting mechanism, and the sorting mechanism carries out sorting and recycling;
the second module is a CCD industrial camera with a fluorescence detection optical path, a light source is arranged on the CCD industrial camera with the fluorescence detection optical path, when in fluorescence detection, after the silkworm cocoon is irradiated by light with the wavelength of 554NM, the biological fluorescent substance in the female body can emit emitted light with the wavelength of 586NM, and the CCD industrial camera with the fluorescence detection optical path captures biological fluorescence by loading a small-bandwidth cut-off fluorescence filter with the central wavelength of 586 NM.
2. The full-automatic female-male silkworm cocoon sorting machine according to claim 1, characterized in that: the first module is a common CCD industrial camera.
3. The full-automatic female and male silkworm cocoon sorting machine according to claim 1, characterized in that: collecting images of the silkworm cocoons on the conveyor belt by using a CCD industrial camera with a fluorescence detection light path, processing the images by algorithm programming, judging the male and female silkworm cocoons, establishing a data table by using MYSQL, and finally, respectively cutting the male and female silkworm cocoons by using an integrated laser head controlled by a single chip microcomputer so as to enable the male and female silkworm cocoons to fall into corresponding recycling boxes.
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| CN107646802A (en) * | 2017-09-24 | 2018-02-02 | 广西同庆机械制造有限公司 | The device of silk cocoon integration is selected silkworm and collected to harvesting of cocoon |
| CN109939961A (en) * | 2019-04-25 | 2019-06-28 | 华南农业大学 | Silkworm chrysalis automatic sorting device in a kind of cocoon |
| CN114472223B (en) * | 2022-01-19 | 2023-02-10 | 那坡同益新丝绸科技实业有限公司 | Intelligent male and female sorting system for silkworm raising industry |
| CN115121497B (en) * | 2022-08-05 | 2023-05-12 | 四川省农业机械研究设计院 | Cut and examine integrated silkworm cocoon sorting system and sorting equipment line of nondestructive test |
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| US5903341A (en) * | 1996-12-06 | 1999-05-11 | Ensco, Inc. | Produce grading and sorting system and method |
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| SU1163917A1 (en) * | 1984-01-23 | 1985-06-30 | Yuldashev Shavkat | Apparatus for separating silkworm nymphs by sex |
| CN1515150A (en) * | 2003-08-26 | 2004-07-28 | 苏州大学 | Sex discrimination of mulberry silkworm pod and its silkworm varietly assortive breeding method |
| CN101403142A (en) * | 2008-11-04 | 2009-04-08 | 江苏苏豪国际集团股份有限公司 | Automatic male and female sorting apparatus for cocoons judged by fluorescence color |
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