CN107051902B

CN107051902B - Improved generation carrot computer vision is meticulous to grade material loading and unloader

Info

Publication number: CN107051902B
Application number: CN201611268400.6A
Authority: CN
Inventors: 韩仲志; 耿琪超
Original assignee: Qingdao Dagu Agricultural Information Co ltd; QINGDAO YOUTIAN AGRICULTURAL DEVELOPMENT CO LTD; Qingdao Agricultural University
Current assignee: Qingdao Dagu Agricultural Information Co ltd; QINGDAO YOUTIAN AGRICULTURAL DEVELOPMENT CO LTD; Qingdao Agricultural University
Priority date: 2016-12-31
Filing date: 2016-12-31
Publication date: 2022-10-11
Anticipated expiration: 2036-12-31
Also published as: CN107051902A

Abstract

The invention discloses an improved carrot computer vision fine grading feeding and discharging device, which comprises a feeding machine and a discharging device, wherein the feeding device is a push plate type step feeding machine; the core of the flat belt type pneumatic grader consists of a flat conveyer belt and 8 air guns, and when long carrots move to corresponding grading ports under the driving of the flat conveyer belt, the air guns blow air to blow fruits and vegetables into the corresponding grading ports. The feeding and discharging device is used in cooperation with the V-shaped conveyor belt, the computer vision system and the control system, and therefore feeding efficiency and grading precision are improved. Automatic grading of carrots is realized.

Description

Improved generation carrot computer vision is meticulous to grade material loading and unloader

Technical Field

The invention discloses an improved carrot computer vision fine grading feeding and discharging device, and particularly relates to a grading device for automatically grading carrots by acquiring appearance characteristics of the carrots.

Background

The agricultural products are sold in grades, which is beneficial to improving the market competitiveness of the agricultural products and increasing the economic benefit, and some agricultural product production and processing enterprises and import and export trade companies in China at present mainly rely on manpower to grade the agricultural products. However, with the development of economy, the labor cost is increased, and in addition, factors such as low manual grading efficiency directly or indirectly increase the production cost of enterprises, the profits cannot be greatly increased, and the method is not suitable for large-scale production and popularization.

Agricultural product grading is a core link of commercialized treatment after agricultural product picking, some reports of detecting and grading spherical fruits such as apples and oranges by adopting a computer vision method are presented at home and abroad at present, an automatic grading production line suitable for apples is developed by Zhejiang university and the like, and the second prize of national technological inventions is obtained, however, the devices are not suitable for automatic grading of long strip-shaped fruits and vegetables such as carrots, the carrot is graded mainly manually at present, machinery for roughly grading carrots by using rolling shafts with different gaps according to the thickness of the carrots is provided, but automation is difficult to achieve, the carrot grade division specified by corresponding industry and trade standards (NYT 1983-2011 carrot grade specification or SBT 10450-2007 carrot purchase and sale grade requirement) is based on length, actual grading is based on weight, and a plurality of quality indexes such as green heads, length, cracking, fibrous roots, bending and the like are not capable of being quantitatively achieved due to the characteristics, and accurate grading of a plurality of indexes cannot be achieved at the same time.

In view of the present situation of carrot grading in the present stage, an improved carrot feeding and discharging device based on computer vision fine grading is needed to be provided, so that defective products can be removed according to appearance defects while carrots are finely graded according to weight and a surplus ratio, and refinement and automation of carrot grading are realized.

Disclosure of Invention

The invention mainly aims to overcome the defects of the problems and provide a carrot grading device which is simple to operate, multi-feature quantification and high in grading efficiency.

The above purpose is realized by the following technical scheme, which comprises the following steps:

the utility model provides an improved generation carrot computer vision meticulous hierarchical material loading and unloader, the device includes material loading machine and unloader, and wherein material loading machine is a push pedal formula ladder material loading machine, and unloader is the pneumatic grader of a flat belt, and this material loading and unloader cooperation V-arrangement conveyer belt uses with computer vision system control system, and wherein the ladder material loading machine is installed in V-arrangement conveyer belt installation side, V-arrangement conveyer belt end-to-end connection lamp house, and the other end at the lamp house is installed to the hierarchical mouth of plane area, the lamp house in install the camera, the camera is connected with the computer control cabinet, the control cabinet is connected the air gun and is realized control.

Wherein:

the push plate type ladder feeding machine is composed of a machine frame, a vibration dustpan, a side face limiting inclined chute 1, a ladder push plate group 2, a turning connecting rod 1, a turning connecting rod 2, a connecting rod 1, a connecting rod 2, an eccentric wheel, a motor, a side face limiting chute 2, a fixing plate 1, a fixing plate 2 and a leaping belt, and is characterized in that the core of the push plate type ladder feeding machine is composed of two groups of fixed push plates, the push plates are powered through the connecting rod under the driving of the eccentric wheel, so that carrot ladder feeding is realized, particularly, two cutting plates can be added in the middle of the ladder push plate, the ladder push plate is divided into 3 regions, and single fruit feeding of 3 fruits is realized at the same time.

Two sets of ladder scraping wings of push pedal formula's ladder material loading machine are fixed relatively through two sets of fixed plates, and the cross arrangement, connecting rod 1 and connecting rod 2 of turning are connected through straight connecting rod 1, and one of them section is fixed in the frame, and the other end is fixed on the fixed plate, and connecting rod 2 is connected on connecting rod 2's freely movable joint, and the other end is connected on the eccentric wheel, under the drive of eccentric wheel, the connecting rod of turning straightens respectively and bends, drives two sets of ladders and pushes away the material version ladder motion, and the carrot rises in the ladder on pushing away the material version, realizes single fruit and goes up.

The flat belt type pneumatic classifier consists of a flat conveying belt, 8 air guns, 8 certified product classifying ports and a defective product classifying port, the core of the flat belt type pneumatic classifier consists of the flat conveying belt and the 8 air guns, when carrots move to the corresponding classifying ports under the driving of the flat conveying belt, a computer controls the opening of electromagnetic valves, and the air guns blow air to blow the carrots into the corresponding classifying ports on the opposite side. The grading ports are distributed in such a way that the smaller the grade, the closer to the lamp box, the larger the carrot, the closer to the defective port.

Computer vision system is through gathering the carrot image, at first judges the carrot substandard product according to surface defect, flows out from the substandard product mouth through rectilinear motion, then divide into the carrot according to the weight of image area fitting for S, M, L, 2L divide into four grades, quantifies the way turnip of same grade into two specifications of thick short type and slender type according to the aspect ratio, and 8 grades are in proper order: s slender, S thick short, M slender, M thick short, L slender, L thick short, 2L slender, 2L thick short, and also can be provided with corresponding grading openings as required.

When carrots move to the front end of the linear array camera, the linear array camera collects a frame of image, particularly 2048 × 2 pixels, whether the carrots enter a field of view of the camera is judged by summing gray values of the number of the pixels, if the carrots enter the field of view, timing is started, the frame of image is stored until the gray value is smaller than a certain set value, all the frame of image are combined into a whole image and uploaded to a computer for judgment, the computer transmits a processing result to a corresponding electromagnetic valve through a lower computer, the corresponding air gun is controlled to be opened through initial time and motion delay, and the carrots with the corresponding grade specification are blown out into a corresponding grading port.

The leaping belt is installed at the tail end of the vibrating dustpan, the leaping belt converts the vertical reciprocating motion of the material pushing plate into left-right motion, and when the carrots vertically fall onto the leaping belt, the carrots are shaken down to be horizontal under the effect of the leaping belt, so that the fruit feeding efficiency is improved. The leap power device is arranged below the vibrating dustpan and consists of a fixed pulley, a pulley of the stepped material pushing plate group 1, a pulley of the stepped material pushing plate group 2 and a steel wire rope, the steel wire rope is connected with two ends of the leap belt, the stepped material pushing plate ascends and descends to drive the two groups of pulleys to ascend and descend alternately, and the steel wire rope is pulled alternately, so that the leap belt moves horizontally and reciprocates to achieve the leap effect.

The invention has the following effects: through frequency conversion, the material pushing plate can be used for feeding fruits for 2.3 times per second, the three channels can theoretically feed 6.9 fruits per second, the actual average fruit feeding rate of the machine is 60% -70%, the number of the fruits fed per second is more than 4, the average carrot weight is about 250 g, and more than 35 tons of carrots are processed per day according to the workload of 10 hours a day and are matched with the daily cleaning amount of the existing cleaning machine. Meanwhile, the device effectively avoids the subjectivity of manual grading, is convenient to adjust and calibrate, is convenient to operate and does not have any environmental pollution. Through the technical scheme, the carrot grading equipment is reasonable and simple in structure, easy to produce and manufacture, low in cost and simple to operate, can efficiently realize intelligent grading of carrots, overcomes the defect of subjective judgment of manual screening, can save labor cost, improves the market competitiveness of equipment, and has good popularization and application values.

Drawings

FIG. 1 is a top view of the entire device of the present invention.

FIG. 2 is a side view of the flat belt sorter of the present invention.

FIG. 3 is a top view of the flat belt grader of the present invention.

FIG. 4 is a front view of the flat belt grader of the present invention.

Fig. 5 is a front view of the bouncing belt mechanism of the present invention.

1.1, a ladder feeder, 1.2, a V-shaped conveyer belt, 1.3, a computer control cabinet, 1.4, a lamp box and a camera,

1.5, a plane belt grading opening.

2.1, a frame, 2.2, a vibration dustpan, 2.3, side limiting inclined chutes 1,2.4, step pushing plate groups 1, 2.5, step pushing plate groups 2,2.6, turning connecting rods 1,2.7, turning connecting rods 2,2.8, connecting rods 1,2.9, connecting rods 2, 2.10, an eccentric wheel, 2.11, a motor, 2.12, side limiting chutes 2,2.13, fixing plates 1,2.14, fixing plates 2,2.15 and a movement belt.

3.1, a plane conveyor belt, 3.2, 1# air guns, 3.3, 2# grading ports, 3.4, 3# air guns, 3.5, 4# grading ports, 3.6, 5# air guns, 3.7, 6# grading ports, 3.8, 7# air guns, 3.9, 8# grading ports, 3.10, 2# air guns, 3.11, 1# grading ports, 3.12, 4# air guns, 3.13, 3# grading ports, 3.14, 6# air guns, 3.15, 5# grading ports, 3.16, 8# air guns, 3.17, 7# grading ports, 3.18, defective grading ports.

4.1, bending a pipe, 4.2, a plane conveyor belt, 4.3, a calabash radish, 4.4, an electromagnetic valve, 4.5 and a grading port.

Detailed Description

The following describes a specific embodiment of the intelligent grading device for carrots with reference to the attached drawings.

Example 1, according to the scheme shown in FIGS. 1-4:

when carrot grading is carried out, cleaned carrots 4.3 are poured onto a vibrating dustpan 2.2 of a 1.1 push plate type feeding machine through the feeding machine, the carrots are horizontally placed under the action of a leaping belt 2.15, a motor 2.11 drives an eccentric wheel 2.10 to rotate, a crank type connecting rod 2.6 and a crank type connecting rod 2.7 alternately straighten and bend under the support of a connecting rod 2.8 through the pulling of a connecting rod 2.9, a stepped material pushing plate group 1 (2.4) fixed on a fixing plate 1 (2.3) and a stepped material pushing plate group 2 (2.5) fixed on the fixing plate 2 (2.12) are driven to alternately ascend and descend under the limiting of a side limiting sliding groove 1 (2.13) and a side limiting sliding groove 2 (2.14). Carrot (4.3) ascends in steps under the action of thrust and gravity, horizontally falls down when moving to the tail end and falls on two V-shaped conveying belts which are at right angles, a conveying belt moves forwards at the speed of approximately 4M/S to drive the carrot to enter a lamp box 1.4, when the carrot enters the lamp box, a linear array camera acquires a frame of image to see whether the carrot enters a camera view field or not, frame trigger photographing is realized, timing is started, a camera arranged in the lamp box 1.4 starts to acquire the carrot image in motion and transmits the image to a computer 1.3, the computer performs image processing according to the carrot image and judges whether the carrot is a defective product or not through surface defects, dividing the carrots into four grades S, M, L and 2L according to the area fitting weight of the healthy carrots, then dividing the carrots into two specifications of slender and thick according to the length-width ratio, forming 8 control signals in a common mode, and when the carrots move to the corresponding positions of the plane conveyor belts (3.1, 4.3), controlling the electromagnetic valve 4.4 of the air gun 4.1 through time delay by a computer control cabinet to blow the carrots into the corresponding grading ports, wherein the carrots with small weight are blown out firstly, and the carrots with large weight are blown out later. Defective carrots automatically slide into the defective grading port 3.18. The invention quantifies the defective carrot specifications and 8 certified carrot specifications in total, and realizes the removing screening of the defective carrot and the fine grading of the certified carrot.

Meanwhile, any combination of various embodiments of the present invention can be made, and the same should be considered as the disclosure of the present invention as long as it does not depart from the idea of the present invention. Furthermore, the present invention is not limited to the specific details of the above-described embodiments, and various simple modifications may be made to the technical solution of the present invention within the technical idea of the present invention, and these simple modifications all fall within the protection scope of the present invention. The scope of the invention is defined by the claims.

Claims

1. An improved computer vision fine grading device for carrots comprises a feeding device and a discharging device, wherein the feeding device is a push plate type stepped feeding machine, the discharging device is a flat belt type pneumatic grader, the feeding device and the discharging device are matched with a V-shaped conveying belt, a computer vision system and a control system for use, the stepped feeding machine is installed on the installation side face of the V-shaped conveying belt, the tail end of the V-shaped conveying belt is connected with a light box, a grading port of the flat belt is installed at the other end of the light box, a camera is installed in the light box and connected with a computer control cabinet, and the control cabinet is connected with an air gun for realizing control;

the push plate type step feeding machine is composed of a machine frame, a vibration dustpan, a side face limiting inclined sliding groove 1, a step material pushing plate group 2, a turning connecting rod 1, a turning connecting rod 2, a connecting rod 1, a connecting rod 2, an eccentric wheel, a motor, a side face limiting sliding groove 2, a fixing plate 1, a fixing plate 2 and a leap belt, and under the driving of the eccentric wheel, power is provided for a push plate through the connecting rod, so that carrot is fed in steps;

the two groups of stepped push plates of the push plate type stepped feeding machine are relatively fixed through two groups of fixing plates and are arranged in a crossed manner, a crank type connecting rod 1 is connected with a crank type connecting rod 2 through a straight connecting rod 1, one section of the crank type connecting rod is fixed on a rack, the other end of the crank type connecting rod is fixed on the fixing plate, the connecting rod 2 is connected to a movable joint of the crank type connecting rod 2, the other end of the crank type connecting rod is connected to an eccentric wheel, the crank type connecting rod is respectively straightened and bent under the driving of the eccentric wheel to drive the two groups of stepped push plates to perform stepped movement, carrots ascend in a stepped manner on the push plates, and single fruit feeding is realized;

the carrot leaping up and down power device is arranged below the vibrating dustpan and consists of a fixed pulley, a pulley of the stepped material pushing plate group 1, a pulley of the stepped material pushing plate group 2 and a steel wire rope, the steel wire rope is connected with two ends of the leaping up belt, the stepped material pushing plate rises and falls to drive the two groups of pulleys to alternately rise and fall, and the steel wire rope is alternately pulled to horizontally reciprocate the leaping up belt, so that the leaping up effect is achieved.

2. The improved computer vision fine grading device for carrot according to claim 1, characterized in that: the flat belt type pneumatic grader is composed of a plane conveyor belt, 8 air guns, 8 certified product grading ports and a defective product grading port, when carrots move to the corresponding grading ports under the driving of the plane conveyor belt, a computer controls an electromagnetic valve to be opened, the air guns blow air to blow the carrots into the corresponding grading ports on the opposite side, the distribution of the grading ports is that the smaller grades are closer to a lamp box, and the larger carrots are closer to the defective product ports.

3. The improved computer vision fine grading device for carrot according to claim 1, characterized in that: the computer vision system judges the defective carrot product according to surface defects by acquiring carrot images, flows out from a defective product port through linear motion, divides the carrot into four grades according to the weight of image area fitting, quantifies the same grade of road radish into two specifications of a short type and a long type according to the length-width ratio, and sequentially comprises the following 8 grades: s slender, S thick short, M slender, M thick short, L slender, L thick short, 2L slender, 2L thick short.

4. The improved computer vision fine grading device for carrot according to claim 1, characterized in that: in the computer vision system, when carrots move to the front end of a linear array camera, the linear array camera collects a frame of image, whether the carrots enter a view field of the camera or not is judged by summing pixel number gray values, if the carrots enter the view field, timing is started, the frame image is stored until the gray value is smaller than a set value, all the frame images are combined into a complete image and are uploaded to a computer for judgment, the computer transmits a processing result to a corresponding electromagnetic valve through a lower computer, and the air gun is controlled to be opened through initial time and movement delay, so that the carrots of the corresponding grade specification are blown out into a corresponding grading port.