CN108051333B - On-line detection device and method for physical property change of fruits and vegetables in drying process - Google Patents
On-line detection device and method for physical property change of fruits and vegetables in drying process Download PDFInfo
- Publication number
- CN108051333B CN108051333B CN201711163909.9A CN201711163909A CN108051333B CN 108051333 B CN108051333 B CN 108051333B CN 201711163909 A CN201711163909 A CN 201711163909A CN 108051333 B CN108051333 B CN 108051333B
- Authority
- CN
- China
- Prior art keywords
- camera
- drying
- glass
- detection device
- material tray
- 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.)
- Active
Links
Images
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N5/00—Analysing materials by weighing, e.g. weighing small particles separated from a gas or liquid
- G01N5/04—Analysing materials by weighing, e.g. weighing small particles separated from a gas or liquid by removing a component, e.g. by evaporation, and weighing the remainder
- G01N5/045—Analysing materials by weighing, e.g. weighing small particles separated from a gas or liquid by removing a component, e.g. by evaporation, and weighing the remainder for determining moisture content
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/24—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures
-
- 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
- G01N21/17—Systems in which incident light is modified in accordance with the properties of the material investigated
- G01N21/25—Colour; Spectral properties, i.e. comparison of effect of material on the light at two or more different wavelengths or wavelength bands
Landscapes
- Physics & Mathematics (AREA)
- General 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)
- Immunology (AREA)
- Pathology (AREA)
- Spectroscopy & Molecular Physics (AREA)
- Investigating Or Analysing Materials By Optical Means (AREA)
Abstract
The invention provides an online detection device and method for physical property change in a fruit and vegetable drying process, wherein the device comprises a stereoscopic vision detection device, a dynamic weighing device, a drying device for drying materials, an electronic control unit and a computer, wherein the stereoscopic vision detection device is positioned above the drying device and comprises a light source box, a left camera, a right camera, a camera fixing plate, an adjusting device and a strip-shaped light source, the left camera, the right camera, the camera fixing plate, the adjusting device and the strip-shaped light source are arranged in the light source box; the invention can detect the change of the moisture content, the shape, the color and the three-dimensional shape of the fruits and vegetables under different drying processes on line, and provides theoretical guidance and detection basis for the optimization of the hot air drying process.
Description
Technical Field
The invention relates to the technical field of agricultural product processing, in particular to an online detection device and method for physical property change in a fruit and vegetable drying process.
Background
The dried fruit and vegetable products are gradually becoming popular food which is sought after by people. On the one hand, the product can keep the original appearance, flavor and nutrient content of the fruits and vegetables to the maximum extent. On the other hand, the moisture content of the fruits and vegetables is reduced after the fruits and vegetables are heated and dried, the size is greatly reduced, the shelf life can be prolonged, and the fruits and vegetables are convenient to store and transport.
The drying technologies commonly used for fruits and vegetables at present comprise a hot air drying technology, a vacuum freeze drying technology, a variable temperature difference puffing drying technology, a microwave vacuum drying technology and the like. Under the influence of the temperature, the humidity and the pressure in the drying chamber, many researches are only limited to different drying processes and adjustment of parameters at the beginning of drying, and the change of physical properties of materials in the whole drying process is not deeply researched. Patent No. CN104266933A discloses a device and a method for on-line detection of water content of a material in a vacuum drying process, and the invention utilizes the change of micro-pressure difference in the vacuum drying process to react the change of the water content of the material. Patent No. CN102636521A discloses an on-line odor monitoring method in the fruit and vegetable heating and drying process, which utilizes a quartz crystal oscillator electronic nose to monitor the odor on line and determine the representative odor of the dried fruit and vegetable. Although the invention patent can monitor partial physical property change of the material in the drying process on line, the detection index is single. In the drying process, the physical parameters of the material, such as the moisture content, the color, the three-dimensional shape and the like, are important quality indexes of the product. The real-time monitoring of the physical indexes has important significance for improving the drying process and improving the product quality.
Disclosure of Invention
Aiming at the defects in the prior art, the invention provides an on-line detection device and method for physical property change in the fruit and vegetable drying process, the device and method can detect the changes of the moisture content, the shape, the color and the three-dimensional shape of the fruit and vegetable under different drying processes on line, and provide theoretical guidance and detection basis for optimization of the hot air drying process.
The present invention achieves the above-described object by the following technical means.
An on-line detection device for physical property change in the drying process of fruits and vegetables comprises a stereoscopic vision detection device, a dynamic weighing device, a drying device for drying materials, an electronic control unit and a computer;
the drying device comprises a drying chamber, wherein an air inlet and an air outlet are respectively formed in the left side wall and the right side wall of the drying chamber, a glass visual window is formed in the top wall of the drying chamber, a material tray base, a temperature and humidity sensor and an air speed sensor are arranged in the drying chamber, the material tray is placed on the material tray base, and the temperature and humidity sensor and the air speed sensor are located on one side of the material tray and used for monitoring the temperature, the humidity and the air speed in the drying process in real time;
the stereoscopic vision detection device comprises a lighttight light source box, a left camera, a right camera, a camera fixing plate, an adjusting device and a bar light source are arranged in the light source box, the camera fixing plate is perpendicularly arranged on a central plane of the light source box and is located above the material tray, two sliding grooves of bilateral symmetry are formed in the camera fixing plate, the two sliding grooves are inverted V-shaped, the adjusting device is arranged in each sliding groove and is connected with the sliding grooves in a sliding mode, the left camera and the right camera are respectively installed on the adjusting device in the two sliding grooves, the positions of the left camera and the right camera in the sliding grooves and the angles of optical axes of the cameras are adjusted through the adjusting device, the adjusted positions are fixed, and the relative positions of the left camera and the right camera are guaranteed. The two strip-shaped light sources are tightly attached to two ends of the upper surface of the glass visual window, so that light rays irradiate the inside of the drying chamber;
the dynamic weighing device is positioned below the drying chamber and comprises a weighing sensor and two vertical supporting rods, the top ends of the two supporting rods respectively penetrate through two through holes in the bottom wall of the drying chamber and are fixedly connected with the tray base, and the bottom ends of the two supporting rods are fixedly connected with the weighing sensor;
the drying device is electrically connected with the electronic control unit, the electronic control unit receives signals transmitted by the temperature and humidity sensor and the wind speed sensor, and the temperature, the humidity and the wind speed in the drying chamber are controlled by the drying device; the left camera and the right camera are electrically connected with a computer, the computer reflects the three-dimensional structure of the material by a three-dimensional reconstruction method according to pictures transmitted by the left camera and the right camera, and controls the drying parameters of the drying device in real time according to the parameter change of the three-dimensional structure and the parameter change obtained by the weighing sensor.
Preferably, the material tray is located the central authorities of drying chamber, and the upper surface of material tray carries out dull polish and handles, avoids camera observation in-process to produce reflection of light and disturbs.
Preferably, the glass visual window is made of quartz glass, and the surface of the quartz glass is subjected to antifogging coating treatment, so that the interference of fog generated by the temperature difference between the inside and the outside to camera shooting is avoided in the drying process.
Preferably, still include two bracing piece pipes, two the bracing piece pipe is empty to overlap respectively on two bracing pieces are located the part of drying chamber, the bracing piece pipe is coaxial with the bracing piece to the diameter of bracing piece pipe is far greater than the diameter of bracing piece, the aperture fixed connection on the bottom of bracing piece pipe and the drying chamber bottom wall, pipe inner wall smooth and resistance are little, disturb the weighing result when avoiding the bracing piece to contact the through-hole on the drying chamber bottom wall, and on the other hand, the pipe can prevent that hot air current too much from escaping in the through-hole on the bottom wall and hot air current causes rocking of bracing piece in the drying process.
Preferably, the light source box is of a cubic structure, the bottom opening of the light source box is communicated with the drying chamber, and black flannelette wraps the outer side of the light source box to avoid stray light interference.
Preferably, the glass visual window is an openable and closable structure.
Preferably, the material tray is made of food grade stainless steel.
A detection method of an on-line detection device for physical property change in a fruit and vegetable drying process comprises the following steps:
s1: adjusting the position of the camera to enable the left camera and the right camera to observe the maximum public view of the material tray;
s2: setting phase parameters to enable the characteristics of the shot picture to be clear and obvious, and weighing and calibrating;
s3: the method for correcting the distortion of the left camera and the right camera by the glass visual window specifically comprises the following steps:
s301: opening a glass visible window, placing the calibration plate on a material tray, and shooting a group of images of the calibration plate;
s302: closing the glass visual window, keeping the position of the calibration plate unchanged, and then shooting a group of images of the calibration plate;
s303: moving the position of the calibration plate, repeating S101-S102, enabling the calibration plate to traverse each corner of the camera view, and shooting images of 12-16 groups of calibration plates;
s304: calculating pose matrixes of the left camera and the right camera under two conditions of opening and closing the glass visual window by adopting a Zhang Zhengyou calibration algorithm, and calculating projection transformation matrixes of two groups of images corresponding to the two conditions of opening and closing the glass visual window by the two pose matrixes so as to correct distortion generated by the glass visual window, wherein the pose matrixes are specifically as follows:
r, T are the rotation and translation matrices of the calibration plate coordinate system and the camera coordinate system without the glass plate, R ', T' are the rotation and translation matrices between the calibration plate coordinate system and the camera coordinate system with the glass plate, (x)c,yc,zc,1)TCorresponding points in a camera coordinate system;
s4: carrying out three-dimensional calibration on a left camera and a right camera of the three-dimensional vision device;
s5: putting the materials into a material tray;
s6: starting a drying device to start material drying;
s7: stopping the drying device from working every 10-15 minutes, recording parameters of the weighing sensor, starting the left camera and the right camera through the computer to shoot pictures of the materials, continuing to work by the drying device, transmitting the shot pictures to the computer by the left camera and the right camera, correcting the pictures by the computer according to the projection transformation matrix obtained in the step S1, and reflecting the three-dimensional structure of the materials by using an NCC algorithm in a three-dimensional reconstruction method;
s8: calculating the three-dimensional parameter change of the three-dimensional structure obtained in the step S7;
s9: and a judging step S7 of obtaining parameters of the weighing sensors and the change condition of the three-dimensional parameters obtained in the step S8, if the parameter change is within an allowable range, repeating the steps S6 to S9, if the parameter change is not within the allowable range, adjusting the drying parameters, recording the change of the drying parameters, and repeating the steps S6 to S9 until the drying is finished.
The material drying process and the material detection process related by the invention are not synchronously carried out, and the blower in the drying device can stop running for a short time during detection, so that the interference of the vibration of the blower on weighing and camera shooting is avoided. The material physical property changes monitored by the left camera, the right camera and the weighing sensor can be fed back to the computer in real time.
The invention has the beneficial effects that:
1) according to the invention, a binocular stereo detection device and a computer are utilized to reconstruct a three-dimensional structure in the drying process of the fruit and vegetable materials, so that the changes of three-dimensional parameters such as surface flatness, shrinkage characteristics and the like can be detected in real time, rapidly and without damage, and the problems of drying environment damage, material contact and complex operation in the traditional detection method are solved;
2) the invention provides a method for correcting glass distortion, and provides an effective method for improving the precision of a binocular stereo detection device in the measurement process.
3) The computer can adjust the parameters of the drying device according to the change of the parameters of the three-dimensional structure of the obtained material so as to adjust the drying environment of the material.
Drawings
FIG. 1 is a schematic structural diagram of an on-line detection device for physical property changes in a fruit and vegetable drying process.
FIG. 2 is a flow chart of a detection method of the on-line detection device for physical property changes in the fruit and vegetable drying process.
FIG. 3 is a schematic diagram of single ray refraction.
Fig. 4 is a schematic plane refraction diagram.
1. The camera comprises a camera fixing plate, 2 parts of a left camera, 3 parts of a sliding groove, 4 parts of an adjusting device, 5 parts of a right camera, 6 parts of a light source, 7 parts of a glass visual window, 8 parts of an air inlet, 9 parts of an air outlet, 10 parts of a material tray, 11 parts of a weighing device supporting rod, 12 parts of a weighing sensor, 13 parts of small holes, 14 parts of a material tray base, 15 parts of a temperature and humidity sensor, 16 parts of an air speed sensor, 17 parts of a supporting rod guide pipe and 18 parts of a light source box.
Detailed Description
The invention will be further described with reference to the following figures and specific examples, but the scope of the invention is not limited thereto.
As shown in figure 1, the on-line detection device for physical property change in the fruit and vegetable drying process comprises a stereoscopic vision detection device, a dynamic weighing device, a drying device for drying materials, an electronic control unit and a computer; drying device includes the drying chamber, be equipped with air intake 8 and air outlet 9 on two lateral walls about the drying chamber respectively for the passageway of hot-blast air current business turn over in the material drying process is equipped with the visual window 7 of glass on the roof of drying chamber, and the visual window 7 of glass is the structure that can open and shut, and glass is quartz glass, and the surface can carry out antifog coating film and handle, avoids causing the interference because inside and outside difference in temperature produces fog to camera shooting in the drying process. The material tray 10, the material tray base 14, the temperature and humidity sensor 15 and the air speed sensor 16 are arranged in the drying chamber, the material tray 10 is made of food-grade stainless steel materials and placed on the material tray base 14, the material tray 10 is located in the center of the drying chamber, the disc surface is subjected to frosting treatment, and light reflection interference generated in the camera observation process is avoided. The temperature and humidity sensor 15 and the air speed sensor 16 are located on one side of the material tray 10 and are used for monitoring the temperature, the humidity and the air speed in the drying process in real time.
The stereoscopic vision detection device comprises a sealed and lightproof light source box 18, the light source box 18 is of a cubic structure, an opening at the bottom is communicated with the drying chamber, and black flannelette wraps the outer side of the light source box 18 to avoid stray light interference. Be equipped with left camera 2, right camera 5, camera fixed plate 1, adjusting device 4 and bar light source 6 in the light source case 18, camera fixed plate 1 is located on the central plane of light source case 18 perpendicularly to be located the top of material tray 10, be equipped with two spouts 3 of bilateral symmetry on camera fixed plate 1, two spouts 3 are the shape of falling V, are equipped with in the spout 3 with spout 3 sliding connection's adjusting device 4, left side camera 2 and right camera 5 are installed respectively on adjusting device 4 in two spouts 3, and adjusting device 4 is a knob, and the knob can adjust the position of camera in the spout and the angle of camera optical axis, screws up the position of the fixed camera of knob. Two strip-shaped light sources 6 are tightly attached to two ends of the upper surface of the glass visual window 7, so that light rays irradiate the inside of the drying chamber.
The dynamic weighing device is positioned below the drying chamber and comprises a weighing sensor 12, two vertical supporting rods 11 and two supporting rod guide pipes 17, wherein the top ends of the supporting rods 11 respectively penetrate through two through holes in the bottom wall of the drying chamber and are fixedly connected with a tray base 14, and the bottom ends of the supporting rods are fixedly connected with the weighing sensor 12. Two bracing piece pipes 17 empty cover respectively on two bracing pieces 11 are located the part of drying chamber, bracing piece pipe 17 is coaxial with bracing piece 11, and the diameter of bracing piece pipe 17 is far greater than the diameter of bracing piece 11, the bottom of bracing piece pipe 17 and the aperture fixed connection on the drying chamber diapire, the inner wall of bracing piece pipe 17 is smooth and the resistance is little, disturb the weighing result when avoiding bracing piece 11 to contact the diapire of drying chamber, on the other hand, the pipe can prevent that hot-blast air too much from escaping in the aperture and hot-blast air among the drying process from causing rocking of bracing piece.
The drying device is electrically connected with the electronic control unit, the electronic control unit receives signals transmitted by the temperature and humidity sensor 15 and the air speed sensor 16, and the temperature, the humidity and the air speed in the drying chamber are controlled through the drying device; the left camera 2 and the right camera 5 are electrically connected with a computer, the computer reflects the three-dimensional structure of the material by a three-dimensional reconstruction method according to the pictures transmitted by the left camera 2 and the right camera 5, and controls the drying parameters of the drying device in real time according to the parameter change of the three-dimensional structure and the parameter change obtained by the weighing sensor 12.
Specifically, the method for detecting the physical property change in the fruit and vegetable drying process by using the online detection device as shown in fig. 2 comprises the following steps:
s1: carry out camera position adjustment, camera fixed plate 1 is installed and is fixed in the device top, and left side camera 2 and right camera 5 pass through adjusting device 4 and adjust baseline distance and optical axis contained angle, detect the knob of adjusting device 4 before beginning, make left side camera 2 and right camera 5's relative position suitable, and the material can be clearly in controlling camera formation of image to public field of vision maximize. Meanwhile, the accuracy of the binocular vision detection system can be improved through the appropriate baseline distance and the optical axis included angle.
S2: setting phase parameters to enable the characteristics of the shot picture to be clear and obvious, and weighing and calibrating;
s3: the method for correcting the distortion generated by the left camera 2 and the right camera 5 through the glass visual window 7 specifically comprises the following steps:
s301: opening a glass visible window 7, placing the calibration plate on a material tray 10, and shooting images of a group of calibration plates;
s302: closing the glass visual window 7, keeping the position of the calibration plate still, and then shooting a group of images of the calibration plate;
s303: moving the position of the calibration plate, repeating S101-S102, enabling the calibration plate to traverse each corner of the camera view, and shooting images of 12-16 groups of calibration plates;
s304: calculating pose matrixes of the left camera 2 and the right camera 5 under two conditions that the glass visual window 7 is opened and closed by adopting a Zhangfriend calibration algorithm, and calculating projection transformation matrixes of two groups of corresponding images under two conditions that the glass visual window 7 is opened and closed by adopting the two pose matrixes so as to correct distortion generated by the glass visual window 7;
s4: carrying out three-dimensional calibration on a left camera 2 and a right camera 5 of the three-dimensional vision device;
s5: placing the material into a material tray 10;
s6: starting a drying device to start material drying;
s7: stopping the drying device from working every 10-15 minutes, recording parameters of the weighing sensor 12, starting the left camera 2 and the right camera 5 through the computer to shoot pictures of the materials, continuing to work through the drying device, transmitting the shot pictures to the computer through the left camera 2 and the right camera 5, correcting the pictures through the computer according to the projection transformation matrix obtained in the step S1, and reflecting the three-dimensional structure of the materials through an NCC algorithm in a three-dimensional reconstruction method;
s8: calculating the three-dimensional parameter change of the three-dimensional structure obtained in the step S7;
s9: the determination step S7 obtains the parameters of the load cell 12 and the three-dimensional parameter change conditions obtained in step S8, and if the parameter change is within the allowable range, repeats steps S6 to S9, and if the parameter change is not within the allowable range, adjusts the drying parameters and records the change of the drying parameters, and repeats steps S6 to S9 until the drying is terminated.
Specifically, the principle of glass distortion correction is as follows:
as shown in fig. 3, is a refraction diagram of the optical path of a single ray. In the figure there are several coordinate systems and point correspondences as follows:
1.OC-XCYCz is the camera coordinate system, OCIs the camera optical center.
2.O1-X1Y1As image plane coordinate system, P1Is P0At the corresponding point of the image plane.
3.X2O2Y2The plane is the upper surface of the glass, X3O3Y3The plane is the lower surface of the glass. Assuming that the thickness of the glass is d, PP3At an angle theta, P to the vertical3P2At an angle of β, P from the vertical1OcAt an angle of α, P' O from the vertical0The included angle between the X axis direction and the X axis direction is gamma.
P' is the point observed by the camera, and P is the real point. The coordinate values of the two points are both based on the camera coordinate system.
If the glass upper and lower surfaces are parallel, α is equal to θ, and the deviations in the X and Y directions are:
Δx＝x′-xc＝d(tanθ-tanβ)cosγ
Δy＝y′-yc＝d(tanθ-tanβ)cosγ
it can be seen from the formula that the deviation of the object point and the image point in the X direction and the Y direction is related to the glass thickness d, the incident angle theta, the refraction angle β and the angle gamma with the X-axis direction.
Referring to fig. 4, when viewed from the point P extending to a plane, the glass thickness is constant, and the incident angle, the refraction angle, and the angle in the X-axis direction of each point on the image are changed. Calculating the glass refractive distortion with the image center point instead of the individual points is the best solution. It is inconvenient to measure the incident angle, the refraction angle, the glass thickness, etc. in the actual operation process, and a large measurement error is also caused. The industrial camera can use a calibration board when two-dimensional or three-dimensional measurement is carried out, and the calibration board can calibrate an internal reference matrix and an external reference matrix of the camera.
Therefore, before the drying experiment is started, the rigid body transformation relation between the world coordinate system and the camera coordinate system under different conditions can be calibrated through two groups of calibration plate images. And then calculating a calibration matrix of glass distortion through matrix transformation. The specific calculation method is as follows:
r, T are the coordinate system and phases of the calibration plate without glass plateA rotation and translation matrix of a machine coordinate system, R ', T' being the rotation and translation matrix between the calibration plate coordinate system and the camera coordinate system when the glass plate is present, (x)c,yc,zc,1)TAre the corresponding points in the camera coordinate system.
Further, the NCC algorithm of the three-dimensional reconstruction method in step S7 includes the following specific steps:
a1: binocular calibration
A group of calibration plate images are respectively shot when a glass visual window is opened and closed, internal and external parameter matrixes of a left camera and a right camera under two conditions, including a rotation matrix, a translation vector, a focal length, a pixel size, a distortion coefficient and the like, are respectively calculated by using a Zhang-Yong calibration algorithm and maximum likelihood estimation, and after the poses of the left camera and the right camera relative to the calibration plate are obtained, the relative position relation between the two cameras can be obtained and a binocular corrected mapping image is obtained.
A2: stereo matching
The images of the dried material photographed by the left camera 2 and the right camera 5 are read, and the two images are corrected using the binocular correction map. And then, carrying out stereo matching by adopting a normalized cross-correlation algorithm based on gray information. The specific formula is as follows:
wherein g is1，g2Gray values of the left image and the right image respectively; r, c are rows and columns of the image; and m and n are the sizes of the matched templates. The corresponding matching points in the left image and the right image can be searched through the measurement function, and the method has stability and adaptability and is not influenced by the linear transformation of the gray value.
A3: constructing 3D images
In step a2, a disparity map of the images captured by the left camera 2 and the right camera 5 is obtained, and the disparity map is converted into projection images in three directions X, Y, and Z to construct a 3D image. The 3D image is stored as a point cloud file, the coordinate value of each point can be obtained, obvious outliers are removed, and a three-dimensional image most similar to the original material is obtained.
The present invention is not limited to the above-described embodiments, and any obvious improvements, substitutions or modifications can be made by those skilled in the art without departing from the spirit of the present invention.
Claims (7)
1. An on-line detection device for physical property change in the drying process of fruits and vegetables is characterized by comprising a stereoscopic vision detection device, a dynamic weighing device, a drying device for drying materials, an electronic control unit, two support rod guide pipes (17) and a computer;
the drying device comprises a drying chamber, wherein an air inlet (8) and an air outlet (9) are respectively formed in the left side wall and the right side wall of the drying chamber, a glass visible window (7) is formed in the top wall of the drying chamber, a material tray (10), a material tray base (14), a temperature and humidity sensor (15) and an air speed sensor (16) are arranged in the drying chamber, the material tray (10) is placed on the material tray base (14), and the temperature and humidity sensor (15) and the air speed sensor (16) are located on one side of the material tray (10) and are used for monitoring the temperature, the humidity and the air speed in the drying process in real time;
the stereoscopic vision detection device comprises a lighttight light source box (18), a left camera (2), a right camera (5), a camera fixing plate (1), an adjusting device (4) and a strip light source (6) are arranged in the light source box (18), the camera fixing plate (1) is vertically arranged on a central plane of the light source box (18) and is positioned above a material tray (10), two sliding chutes (3) which are bilaterally symmetrical are arranged on the camera fixing plate (1), the two sliding chutes (3) are inverted V-shaped, the adjusting device (4) which is in sliding connection with the sliding chutes (3) is arranged in the sliding chutes (3), the left camera (2) and the right camera (5) are respectively arranged on the adjusting devices (4) in the two sliding chutes (3), and the positions of the left camera (2) and the right camera (5) in the sliding chutes (3) and the angle of a camera optical axis are adjusted through the adjusting devices (4), the adjusted positions are fixed, and the two strip-shaped light sources (6) are tightly attached to two ends of the upper surface of the glass visual window (7) so that light rays irradiate the inside of the drying chamber;
the dynamic weighing device is positioned below the drying chamber and comprises a weighing sensor (12) and two vertical supporting rods (11), the top ends of the two supporting rods (11) respectively penetrate through two through holes in the bottom wall of the drying chamber and are fixedly connected with a tray base (14), and the bottom ends of the two supporting rods are fixedly connected with the weighing sensor (12);
the two support rod guide pipes (17) are respectively sleeved on the parts, located in the drying chamber, of the two support rods (11), the support rod guide pipes (17) are coaxial with the support rods (11), the diameters of the support rod guide pipes (17) are far larger than those of the support rods (11), and the bottom ends of the support rod guide pipes (17) are fixedly connected with small holes in the bottom wall of the drying chamber;
the drying device is electrically connected with the electronic control unit, the electronic control unit receives signals transmitted by the temperature and humidity sensor (15) and the wind speed sensor (16), and the temperature, the humidity and the wind speed in the drying chamber are controlled by the drying device; the left camera (2) and the right camera (5) are electrically connected with a computer, the computer reflects the three-dimensional structure of the material by using a three-dimensional reconstruction method according to pictures transmitted by the left camera (2) and the right camera (5), and controls the drying parameters of the drying device in real time according to the parameter change of the three-dimensional structure and the parameter change obtained by the weighing sensor (12).
2. The on-line detection device for physical property change in the fruit and vegetable drying process according to claim 1, wherein the material tray (10) is located in the center of the drying chamber, and the upper surface of the material tray (10) is frosted.
3. The on-line detection device for physical property change in the fruit and vegetable drying process according to claim 1, wherein the glass visual window (7) is made of quartz glass, and the surface of the quartz glass is subjected to antifogging coating treatment.
4. The on-line detection device for physical property change in the fruit and vegetable drying process as claimed in claim 1, wherein the light source box (18) is of a cubic structure, an opening at the bottom is communicated with the drying chamber, and black lint is wrapped on the outer side of the light source box (18).
5. The on-line detection device for physical property change in the fruit and vegetable drying process according to claim 4, wherein the glass visual window (7) is of an openable and closable structure.
6. The on-line detection device for physical property change in the fruit and vegetable drying process according to claim 1, wherein the material tray (10) is made of food-grade stainless steel.
7. The detection method of the on-line detection device for the physical property change in the fruit and vegetable drying process as claimed in claim 5, is characterized by comprising the following steps:
s1: adjusting the position of the cameras to enable the left camera (2) and the right camera (5) to observe the maximum common view of the material tray (10);
s2: setting phase parameters to enable the characteristics of the shot picture to be clear and obvious, and weighing and calibrating;
s3: the method for correcting the distortion generated by the left camera (2) and the right camera (5) through the glass visual window (7) specifically comprises the following steps:
s301: opening a glass visible window (7), placing a calibration plate on a material tray (10), and shooting images of a group of calibration plates;
s302: closing the glass visual window (7), keeping the position of the calibration plate still, and then shooting a group of images of the calibration plate;
s303: moving the position of the calibration plate, repeating S101-S102, enabling the calibration plate to traverse each corner of the camera view, and shooting images of 12-16 groups of calibration plates;
s304: calculating pose matrixes of the left camera (2) and the right camera (5) under two conditions that the glass visual window (7) is opened and closed by adopting a Zhang Zhengyou calibration algorithm, and calculating projection transformation matrixes of two groups of images corresponding to the two conditions that the glass visual window (7) is opened and closed by adopting the two pose matrixes, so as to correct distortion generated by the glass visual window (7), wherein the method specifically comprises the following steps:
r, T are the rotation and translation matrices of the calibration plate coordinate system and the camera coordinate system without the glass plate, R ', T' are the rotation and translation matrices between the calibration plate coordinate system and the camera coordinate system with the glass plate, (x)c,yc,zc,1)TCorresponding points in a camera coordinate system;
s4: carrying out stereo calibration on a left camera (2) and a right camera (5) of a stereo vision device;
s5: placing the material into a material tray (10);
s6: starting a drying device to start material drying;
s7: stopping the drying device from working every 10-15 minutes, recording parameters of the weighing sensor (12), starting the left camera (2) and the right camera (5) through the computer to shoot pictures of the materials, continuing to work the drying device, transmitting the shot pictures to the computer through the left camera (2) and the right camera (5), correcting the pictures according to the projection transformation matrix obtained in the step S1 by the computer, and reflecting the three-dimensional structure of the materials by using an NCC algorithm in a three-dimensional reconstruction method;
s8: calculating the three-dimensional parameter change of the three-dimensional structure obtained in the step S7;
s9: and a judging step S7 obtains the parameters of the weighing sensor (12) and the change condition of the three-dimensional parameters obtained in the step S8, if the parameter change is within an allowable range, the steps S6 to S9 are repeated, if the parameter change is not within the allowable range, the drying parameters are adjusted, the change of the drying parameters is recorded, and the steps S6 to S9 are repeated until the drying is finished.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711163909.9A CN108051333B (en) | 2017-11-21 | 2017-11-21 | On-line detection device and method for physical property change of fruits and vegetables in drying process |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711163909.9A CN108051333B (en) | 2017-11-21 | 2017-11-21 | On-line detection device and method for physical property change of fruits and vegetables in drying process |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108051333A CN108051333A (en) | 2018-05-18 |
| CN108051333B true CN108051333B (en) | 2020-06-09 |
Family
ID=62120272
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711163909.9A Active CN108051333B (en) | 2017-11-21 | 2017-11-21 | On-line detection device and method for physical property change of fruits and vegetables in drying process |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108051333B (en) |
Families Citing this family (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108802091A (en) * | 2018-06-28 | 2018-11-13 | 中山大学 | A kind of analysis experimental provision of material Airflow Drying Characteristic variation |
| CN109115772B (en) * | 2018-07-13 | 2020-07-07 | 中国农业大学 | Machine vision online detection system and method for hot air dryer under temperature and humidity process control |
| CN109619162A (en) * | 2019-01-02 | 2019-04-16 | 广州南颐贸易有限公司 | It is a kind of for spending the intelligent drying system of glue Keep the quality and freshness |
| CN111089618A (en) * | 2019-12-13 | 2020-05-01 | 江苏大学 | Physical property monitoring and virtual reality device and method in fruit and vegetable drying process |
| CN111028298B (en) * | 2019-12-17 | 2023-02-03 | 哈尔滨工业大学 | Convergent binocular system for rigid coordinate system space transformation calibration |
| CN112414886B (en) * | 2020-10-23 | 2022-04-05 | 同济大学 | Material compatibility testing device and method for fuel system component |
| CN112998067B (en) * | 2021-01-21 | 2022-06-24 | 江苏大学 | Intelligent film coating device and method for fruits and vegetables |
| CN116379718A (en) * | 2023-03-10 | 2023-07-04 | 江苏科技大学 | Infrared and hot air combined intelligent control drying system and method based on multi-source information fusion |
| CN117091987B (en) * | 2023-08-28 | 2024-04-09 | 广东嘉沃供应链有限公司 | Intelligent detection method and system for agricultural product quality safety |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH06123737A (en) * | 1992-10-12 | 1994-05-06 | Mitsubishi Kasei Corp | Measuring method in moisture measuring apparatus |
| US5485684A (en) * | 1993-02-16 | 1996-01-23 | Mettler-Toledo Ag | Dryer with precision balance |
| CN102636521A (en) * | 2012-04-27 | 2012-08-15 | 江南大学 | On-line odour monitoring method used in garden stuff heating-drying process |
| CN104569082A (en) * | 2014-11-14 | 2015-04-29 | 山西农业大学 | Device for wirelessly monitoring moisture content in real time in fruit and vegetable freeze-drying process |
-
2017
- 2017-11-21 CN CN201711163909.9A patent/CN108051333B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH06123737A (en) * | 1992-10-12 | 1994-05-06 | Mitsubishi Kasei Corp | Measuring method in moisture measuring apparatus |
| US5485684A (en) * | 1993-02-16 | 1996-01-23 | Mettler-Toledo Ag | Dryer with precision balance |
| CN102636521A (en) * | 2012-04-27 | 2012-08-15 | 江南大学 | On-line odour monitoring method used in garden stuff heating-drying process |
| CN104569082A (en) * | 2014-11-14 | 2015-04-29 | 山西农业大学 | Device for wirelessly monitoring moisture content in real time in fruit and vegetable freeze-drying process |
Non-Patent Citations (1)
| Title |
|---|
| 果蔬红外干燥在线实时检测系统设计;王相友 等;《农业机械学报》;20110331;第42卷(第3期);136-139 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN108051333A (en) | 2018-05-18 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108051333B (en) | On-line detection device and method for physical property change of fruits and vegetables in drying process | |
| CN107677375B (en) | Calibration device and calibration method for infrared radiation measurement system | |
| EP3032241A1 (en) | Method and apparatus for digitizing the appearance of a real material | |
| CN108830906B (en) | Automatic calibration method for camera parameters based on virtual binocular vision principle | |
| CN109070146A (en) | Particularly for band navel fruit orientation method and the device of strap navel fruit | |
| RU2015124383A (en) | CONTROL SYSTEM FOR HEAT TREATMENT CONTROL | |
| CN108535199B (en) | Outdoor multi-scale jujube orchard hyperspectral polarization detection method | |
| CN111829434B (en) | Material flow metering detection method and system | |
| CN110009698B (en) | Intelligent calibration device and calibration method for binocular vision system | |
| WO2011128927A2 (en) | Measuring thermal parameters of a building envelope | |
| CN111353997B (en) | Real-time three-dimensional surface defect detection method based on fringe projection | |
| CN111637834A (en) | Three-dimensional data measuring device and method | |
| CA3083414A1 (en) | Machine vision system with a computer generated virtual reference object | |
| EP2864733A1 (en) | Optical apparatus and method for performing a measurement of at least one geometric dimension of an object | |
| US7349087B2 (en) | Method for determining stokes parameters | |
| CN114445486A (en) | Chip warpage deformation measuring method and device | |
| CN207365904U (en) | Three-dimensional reconstruction apparatus and equipment | |
| US11609183B2 (en) | Methods and systems to measure properties of products on a moving blade in electronic device manufacturing machines | |
| CN113607597A (en) | Weighing type fruit and vegetable water content online detection method and system | |
| CN109358074B (en) | Device and method for detecting internal defects of transparent material | |
| CN112254827A (en) | Information processing device and method for improving precision of infrared thermometer | |
| CN116067506A (en) | Method and system for constructing three-dimensional temperature field on material surface of industrial furnace | |
| CN112505036A (en) | Fruit and vegetable drying real-time morphology monitoring device and method | |
| Müller | Close range 3D thermography: real-time reconstruction of high fidelity 3D thermograms | |
| CN104880465B (en) | For the online visible detection method of Varying-thickness sheet material surface quality |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |