CN108097603A - The shaddock quality method for separating of view-based access control model technology - Google Patents
The shaddock quality method for separating of view-based access control model technology Download PDFInfo
- Publication number
- CN108097603A CN108097603A CN201711312224.6A CN201711312224A CN108097603A CN 108097603 A CN108097603 A CN 108097603A CN 201711312224 A CN201711312224 A CN 201711312224A CN 108097603 A CN108097603 A CN 108097603A
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- Prior art keywords
- shaddock
- sorted
- weighing
- quality
- separating
- Prior art date
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- 235000001759 Citrus maxima Nutrition 0.000 title claims abstract description 136
- 240000003641 Citrus maxima Species 0.000 title claims abstract description 136
- 238000005516 engineering process Methods 0.000 title claims abstract description 16
- 238000005303 weighing Methods 0.000 claims abstract description 67
- 238000010079 rubber tapping Methods 0.000 claims abstract description 11
- 230000000875 corresponding Effects 0.000 claims abstract description 6
- 238000001514 detection method Methods 0.000 claims abstract 8
- 238000005192 partition Methods 0.000 claims description 10
- 239000007787 solid Substances 0.000 claims description 5
- 239000000203 mixture Substances 0.000 claims description 4
- 238000010586 diagrams Methods 0.000 description 5
- 235000013399 edible fruits Nutrition 0.000 description 3
- 238000000926 separation method Methods 0.000 description 3
- 230000000694 effects Effects 0.000 description 2
- 230000003028 elevating Effects 0.000 description 2
- 238000007689 inspection Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 235000013372 meat Nutrition 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000006011 modification reactions Methods 0.000 description 1
- 235000016709 nutrition Nutrition 0.000 description 1
- 230000035764 nutrition Effects 0.000 description 1
- 230000000630 rising Effects 0.000 description 1
- 230000001360 synchronised Effects 0.000 description 1
- 239000011901 water Substances 0.000 description 1
Classifications
-
- 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
-
- 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
- B07C5/36—Sorting apparatus characterised by the means used for distribution
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N9/00—Investigating density or specific gravity of materials; Analysing materials by determining density or specific gravity
- G01N9/02—Investigating density or specific gravity of materials; Analysing materials by determining density or specific gravity by measuring weight of a known volume
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N9/00—Investigating density or specific gravity of materials; Analysing materials by determining density or specific gravity
- G01N9/36—Analysing materials by measuring the density or specific gravity, e.g. determining quantity of moisture
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N9/00—Investigating density or specific gravity of materials; Analysing materials by determining density or specific gravity
- G01N9/02—Investigating density or specific gravity of materials; Analysing materials by determining density or specific gravity by measuring weight of a known volume
- G01N2009/022—Investigating density or specific gravity of materials; Analysing materials by determining density or specific gravity by measuring weight of a known volume of solids
- G01N2009/024—Investigating density or specific gravity of materials; Analysing materials by determining density or specific gravity by measuring weight of a known volume of solids the volume being determined directly, e.g. by size of container
Abstract
The invention discloses a kind of shaddock quality method for separating of view-based access control model technology,Shaddock to be sorted enters through the feed mechanism (8) on the weighing unit (10.1) of the detection platform,Whether shaddock to be sorted is detected in erectility by upper camera (4.1),If not,The position of shaddock to be sorted is to erectility then and as described in the positioning push mechanism (7) adjustment,The weighing unit (10.1) weighs to the shaddock to be sorted,The rotatable setting of the weighing unit (10.1),Shaddock rotation to be sorted described in weighing unit (10.1) the rotation drive,Side camera (4.2) continuously takes pictures to the shaddock to be sorted simultaneously,To draw the volume of the shaddock to be sorted,According to obtained weight and volume,So as to obtain the density of the shaddock to be sorted,According to the density of the shaddock to be sorted,The shaddock to be sorted is pushed into corresponding tapping channel (1) by the positioning push mechanism (7),To realize that quality sorts.
Description
Technical field
The present invention relates to fruit quality sorting technology field, the shaddock quality point of specifically a kind of view-based access control model technology
Choosing method.
Background technology
Shaddock is the fruit that people enjoy a lot, its faint scent, sour-sweet, Liang Run, full of nutrition, medical value is very high.But people
When shaddock is bought, can only with feel (weighed in the hand with hand, feel weight any, represent moisture foot) select juice containing amount sufficient
Shaddock, but often accuracy is relatively low for this selection by rule of thumb.Select shaddock, it is impossible to be distinguished with size, to same a collection of shaddock
For son (same breed, the identical place of production, identical collecting period, identical transport and preserving type), with density, size, weight, shape
These overall targets carry out shaddock more accurate classification.And density is bigger, represents that water content is more sufficient.Certainly, remove
Consumer is outer for selecting for shaddock, for the processing of fruit or retailer, should focus on the sorting and classification of shaddock, root
Different sale prices is set according to separation results.
However, in the prior art, the either processing of consumer or shaddock and retailer can only accompany you to rely on meat
Eye, hand the modes such as are weighed in the hand and are observed, and the accuracy for identifying and sorting is low, and the efficiency of separation is very low.
The content of the invention
In view of this, existing shaddock sorts the skill that accuracy is low, the efficiency of separation is low to the present invention for the above-mentioned prior art
Art problem provides a kind of shaddock quality method for separating for being capable of the accurate view-based access control model technology of automatic sorting.
The technical solution of the present invention is to provide a kind of shaddock quality method for separating of view-based access control model technology, based on shaddock
Sub- quality sorting machine, the shaddock quality sorting machine include feed mechanism, detection platform and rack, and the detection platform is fixed on
In the rack, the detection platform includes polylith jigsaw, and the polylith jigsaw encloses and forms weighing station in centre, described
Weighing unit is provided at weighing station, the detection platform side and top are respectively equipped with camera and side camera, described
The adjacent two-by-two of polylith jigsaw is jigsaw intersection, and an intersection is equipped with positioning push mechanism at least in, multiple
Intersection is connected with tapping channel；
Shaddock to be sorted enters through the feed mechanism on the weighing unit of the detection platform, is treated by the detection of upper camera
Shaddock is sorted whether in erectility, if it is not, then and as described in the positioning push mechanism adjustment shaddock to be sorted position
To erectility, the weighing unit weighs to the shaddock to be sorted, the rotatable setting of weighing unit, the weighing unit
Shaddock rotation to be sorted described in rotation drive, while side camera continuously takes pictures to the shaddock to be sorted, and synthesize shaddock
3D solid, to draw the volume of shaddock sort, according to the weight of the obtained shaddock to be sorted of the weighing unit with
The side camera is taken pictures the volume of shaddock sort obtained after processing, so as to the density of shaddock to be sorted described in obtaining, root
According to the density of the shaddock to be sorted, the shaddock to be sorted is pushed into corresponding tapping channel by the positioning push mechanism, with
Realize quality sorting.
Optionally, the intersection for being provided with positioning push mechanism is provided with for the logical of positioning push mechanism movement
Slot, the positioning push mechanism include liftable push rod, screw and sliding block composition, the liftable push rod and are equipped with P-A Cephalomatrics,
The P-A Cephalomatrics are curved.
Optionally, weighing sensor is provided with below the weighing unit, between weighing sensor and Weighing module support plate
Thrust bearing is provided with, Weighing module motor drives the weighing unit to rotate, and the Weighing module motor is mounted on Weighing module
In support plate, the Weighing module support plate is bolted to by support plate on the jigsaw.
Optionally, the jigsaw has four pieces, in adjacent two-by-two there are four intersection, is corresponded in four intersections
Straight slot equipped with positioning push mechanism and for positioning push mechanism movement, wherein intersection accept the feed mechanism
Lower part outlet, the other three intersection accept the upper end outlet of three tapping channels.
Optionally, the feed mechanism is equipped with conveyor, is provided with partition plate in the conveyor, each two partition plate away from
From the diameter more than a shaddock to be sorted.
Optionally, the conveyor is arranged on detection platform one side, and the distance of the detection platform and conveyor is more than institute
The height for stating partition plate is less than the diameter of shaddock to be sorted.
Optionally, the intersection for being provided with positioning push mechanism is provided with for the logical of positioning push mechanism movement
Slot, the positioning push mechanism include liftable push rod, screw and sliding block composition, the liftable push rod and are equipped with gripper,
Sorting shaddock normotopia and push are treated by gripper realization.
Above method is used, compared with prior art, the present invention haing the following advantages：Described in present invention shaddock warp to be sorted
Feed mechanism enters on the weighing unit of the detection platform, and whether shaddock to be sorted is detected in vertical by upper camera
State, if it is not, the position of shaddock to be sorted is to erectility, the weighing unit pair then and as described in positioning push mechanism adjustment
The shaddock to be sorted is weighed, the rotatable setting of weighing unit, shaddock to be sorted described in the weighing unit rotation drive
Rotation, while side camera continuously takes pictures to shaddock sort, and synthesizes the 3D solid of shaddock, to treat described in drawing point
The volume of shaddock is selected, is obtained according to the weighing unit is obtained after the weight of sorting shaddock and the side camera take pictures processing
To shaddock to be sorted volume, so as to obtain the density of the shaddock to be sorted, according to the density of the shaddock to be sorted, by
The shaddock to be sorted is pushed into corresponding tapping channel by the positioning push mechanism, to realize that quality sorts.The present invention can be accurate
Automatic sorting efficiently really is carried out to shaddock.
Description of the drawings
Fig. 1 is the structure diagram of shaddock quality sorting machine；
Fig. 2 is the structure diagram of positioning push mechanism；
Fig. 3 is the structure diagram of feed mechanism；
Fig. 4 is the connection diagram of weighing device and detection platform；
Fig. 5 is the structure diagram of weighing device.
Shown in figure：1st, slideway；2nd, rack；3rd, jigsaw；4.1st, upper camera；4.2nd, side camera；5th, camera bracket；
6th, shaddock to be sorted；7th, positioning push mechanism；7.1st, P-A Cephalomatrics；7.2nd, liftable push rod；7.3rd, stepper motor；7.4th, sliding block；
7.5th, screw supports；7.6th, polished rod；7.7th, screw；8th, feed mechanism；8.1st, conveyer belt；8.2nd, partition plate；9th, bottom plate；10.1, claim
Weight platform；10.2nd, sensor is claimed again；10.3, thrust bearing；10.4th, Weighing module support plate；10.5th, Weighing module motor；11、
Support crab bolt.
Specific embodiment
The invention will be further described in the following with reference to the drawings and specific embodiments.
The present invention covers any replacement, modification, equivalent method and scheme made in the spirit and scope of the present invention.For
The public is made to have thorough understanding to the present invention, is described in detail concrete details in present invention below preferred embodiment, and
Description without these details can also understand the present invention completely for a person skilled in the art.In addition, the attached drawing of the present invention
In for the needs of signal, not being drawn to scale accurately completely, be explained herein.
As shown in Figure 1, the present invention is based on shaddock quality sorting machine, a kind of shaddock quality sorting machine, including feed mechanism 8,
Detection platform and rack 2, the detection platform are fixed in the rack 2, and the detection platform includes polylith jigsaw 3, described
Polylith jigsaw 3 encloses and forms weighing station in centre, and weighing unit 10.1, the detection platform are provided at the weighing station
Side and top are respectively equipped with camera 4.1 and side camera 4.2, and the adjacent two-by-two of the polylith jigsaw 3 is handed over for jigsaw
At boundary, an intersection is equipped with positioning push mechanism 7 at least in, and tapping channel 1 is connected in multiple intersections；It waits to sort
Shaddock enters through the feed mechanism 8 on the weighing unit 10.1 of the detection platform, and shaddock to be sorted is detected by upper camera 4.1
Whether son is in erectility, if it is not, then and by the positioning push mechanism 7 adjusting the position of the shaddock to be sorted to upright
State, the weighing unit 10.1 weigh to the shaddock to be sorted, the 10.1 rotatable setting of weighing unit, described to weigh
Shaddock rotation to be sorted described in the rotation drive of platform 10.1, while side camera 4.2 continuously takes pictures to the shaddock to be sorted, and close
Into the 3D solid of shaddock, to draw the volume of the shaddock to be sorted, wait to sort according to the weighing unit 10.1 is obtained
The weight of shaddock and the side camera 4.2 are taken pictures the volume of shaddock sort obtained after processing, so as to treat described in obtaining point
The density of shaddock is selected, according to the density of the shaddock to be sorted, is pushed into the shaddock to be sorted by the positioning push mechanism 7
Corresponding tapping channel 1, to realize that quality sorts.
It is offered as shown in Fig. 2, illustrating the intersection for being provided with positioning push mechanism 7 for the positioning pusher
The straight slot that structure 7 moves, the positioning push mechanism 7 forms including liftable push rod 7.2, screw 7.7 and sliding block 7.4, it is described can
It lifts push rod 7.2 and is equipped with P-A Cephalomatrics 7.1, the P-A Cephalomatrics 7.1 are curved.Shaddock to be sorted smoothly tumbles flat to detection
Platform, and by after righting, four 7.1 synchronization actions of P-A Cephalomatrics, by shaddock between two parties on weighing unit 10.1.
In Fig. 2, the P-A Cephalomatrics 7.1 can also be substituted for manipulator, the boundary for being provided with positioning push mechanism 7
Place offers the straight slot for the positioning push mechanism 7 movement, and the positioning push mechanism 7 includes liftable push rod 7.2, screw
7.7 and sliding block 7.4 form, the liftable push rod 7.2 be equipped with gripper, by the gripper realization treat sorting shaddock
Normotopia and push.
As shown in figure 3, illustrating feed mechanism, the feed mechanism 8 is equipped with conveyor 8.1, in the conveyor 8.1
On be provided with partition plate 8.2, each two partition plate distance is more than the diameter of a shaddock to be sorted.The conveyor 8.1 is arranged on inspection
The height that the distance of survey platform one side, the detection platform and conveyor is more than the partition plate 8.2 is less than the straight of shaddock to be sorted
Footpath.
As shown in Figures 4 and 5, weighing device and detection platform are illustrated, weighing device includes weighing unit 10.1, described to weigh
10.1 lower section of platform is provided with weighing sensor 10.2, is provided with and pushes away between weighing sensor 10.2 and Weighing module support plate 10.4
Power bearing 10.3, Weighing module motor 10.5 drive the weighing unit 10.1 to rotate, and the Weighing module motor 10.5 is mounted on
In Weighing module support plate 10.4, the Weighing module support plate 10.4 is by supporting crab bolt 11 to be connected on the jigsaw 3.
The jigsaw 3 has four pieces, in adjacent two-by-two there are four intersection, corresponds to be equipped in four intersections and determine
Position delivery device 7 and the straight slot moved for positioning push mechanism 7, wherein under an intersection undertaking feed mechanism 8
Portion exports, and the other three intersection accepts the upper end outlet of three tapping channels 1.
Feed mechanism 8 send shaddock to be sorted to detection platform one by one, and sorting unit is provided with 4 translation lifting gears
As the positioning push mechanism, when shaddock reaches detection platform, if shaddock lies low (without upright), elevating translational fills
Action is put, by shaddock righting and placed in the middle.After shaddock is completely placed in the middle, weighing unit 10.1 is rotated by 360 °, and side camera 4.2 is shot
360 photos (photo is more, and precision is higher), synthesize the 3D solid of shaddock, and draw the volume of shaddock.When shaddock occupies completely
In after, the weight sensor 10.2 of the lower section of weighing unit 10.1 measures the weight of shaddock.According to weight, the volume measured, shaddock is drawn
The density of son, so as to draw the grade of shaddock.This sorting unit is set to three grades to shaddock, according to the grade of shaddock, by rising
Drop translating device is pushed on corresponding slideway 1, realizes sorting.
The effect of upper camera 4.1：The initial position of shaddock is detected, if shaddock is in lying status, positioned at shaddock
Nearest lifting and translating unit action, by shaddock righting；If shaddock rotates weighing unit between two P-A Cephalomatrics 7.1
10.1, shaddock is gone into the position that some P-A Cephalomatrics closes on, then the lifting and translating unit acts, by shaddock righting.Shaddock from
When feed mechanism 8 is fallen, shaddock tumbles above detection platform in order to prevent, at the lifting and translating unit of conveyer belt 8.1
In home position, i.e. P-A Cephalomatrics 7.1 are in below detection platform, and shaddock is enable smoothly to be tumbled from conveyer belt 8.1；Remaining 3
P-A Cephalomatrics 7.1 are in above detection platform, and the size for being higher by platform is about the half of shaddock average height, 3 P-A Cephalomatrics shapes
Into a ring of encirclement, prevent shaddock from tumbling.Shaddock is smoothly tumbled to detection platform, and by after righting, four P-A Cephalomatrics 7.1 are synchronous
Action, by shaddock between two parties on weighing unit 10.1.
Another effect of camera：The classification of shaddock appearance, condition is compared with database, can be according to shaddock condition
Deciding grade and level, i.e., whether the shape of shaddock is symmetrical, whether there is mildew, pit, color gloss etc..To aid in sorting.
Lifting and translating unit has the function of that, by lifting and translation two, translation functions have stepper motor 7.3 to drive screw 7.7
It rotates so that sliding block 7.4 translates, and realizes the translation of electric pushrod 7.2；Electric pushrod 7.2 can realize elevating function.It is electronic to push away
It is provided with P-A Cephalomatrics 7.1 on bar 7.2, the radius of curvature on the inside of P-A Cephalomatrics is consistent with shaddock shape curvature.
Although embodiment is separately illustrated and is illustrated above, it is related to the common technology in part, in ordinary skill
Personnel apparently, can be replaced and integrate between the embodiments, be related to one of embodiment and the content recorded is not known, then
It can refer to another embodiment on the books.
Only preferred embodiments of the present invention are described above, but are not to be construed as limiting the scope of the invention.This
Invention is not only limited to above example, and concrete structure is allowed to vary.In short, all guarantors in independent claims of the present invention
The various change made in the range of shield is within the scope of the present invention.
Claims (7)
1. a kind of shaddock quality method for separating of view-based access control model technology, based on shaddock quality sorting machine, the shaddock quality sorting
Machine includes feed mechanism (8), detection platform and rack (2), and the detection platform is fixed in the rack (2), and feature exists
In：The detection platform includes polylith jigsaw (3), and the polylith jigsaw (3) encloses and forms weighing station, the title in centre
Weighing unit (10.1) is provided at heavy work station, the detection platform side and top are respectively equipped with camera (4.1) and side is taken the photograph
As head (4.2), the adjacent two-by-two of the polylith jigsaw (3) is jigsaw intersection, and an intersection is equipped with fixed at least in
Position delivery device (7), tapping channel (1) is connected in multiple intersections；
The method for separating comprises the following steps：Shaddock to be sorted enters the title of the detection platform through the feed mechanism (8)
On weight platform (10.1), whether shaddock to be sorted is detected in erectility by upper camera (4.1), if it is not, then and by described
To erectility, the weighing unit (10.1) is treated point to described for the position of shaddock to be sorted described in positioning push mechanism (7) adjustment
Shaddock is selected to weigh, the rotatable setting of the weighing unit (10.1), the weighing unit (10.1) rotates waits to sort described in drive
Shaddock rotates, while side camera (4.2) continuously takes pictures to the shaddock to be sorted, and synthesizes the 3D solid of shaddock, with
Go out the volume of the shaddock to be sorted, taken the photograph according to the weight of the obtained shaddock to be sorted of the weighing unit (10.1) and the side
As head (4.2) is taken pictures the volume of shaddock sort obtained after processing, so as to the density of shaddock to be sorted described in obtaining, according to institute
The density of shaddock to be sorted is stated, the shaddock to be sorted is pushed into corresponding tapping channel (1) by the positioning push mechanism (7),
To realize that quality sorts.
2. the shaddock quality method for separating of view-based access control model technology according to claim 2, it is characterised in that：It is described to be provided with
The intersection of positioning push mechanism (7) offers the straight slot moved for the positioning push mechanism (7), the positioning push mechanism
(7) include liftable push rod (7.2), screw (7.7) and sliding block (7.4) composition, the liftable push rod (7.2) and be equipped with normotopia
Piece (7.1), the P-A Cephalomatrics (7.1) are curved.
3. the shaddock quality method for separating of view-based access control model technology according to claim 1 or 2, it is characterised in that：The title
Be provided with weighing sensor (10.2) below weight platform (10.1), weighing sensor (10.2) and Weighing module support plate (10.4) it
Between be provided with thrust bearing (10.3), Weighing module motor (10.5) drives the weighing unit (10.1) to rotate, the mould of weighing
Block motor (10.5) is mounted in Weighing module support plate (10.4), and the Weighing module support plate (10.4) passes through support plate spiral shell
Bolt (11) is connected on the jigsaw (3).
4. the shaddock quality method for separating of view-based access control model technology according to claim 1 or 2, it is characterised in that：Described
Jigsaw (3) has four pieces, in adjacent two-by-two there are four intersection, is corresponded in four intersections and is equipped with positioning push mechanism
(7) and for the straight slot that positioning push mechanism (7) moves, the lower part that an intersection accepts the feed mechanism (8) wherein goes out
Mouthful, the other three intersection accepts the upper end outlet of three tapping channels (1).
5. the shaddock quality method for separating of view-based access control model technology according to claim 4, it is characterised in that：The feeder
Structure (8) is equipped with conveyor (8.1), partition plate (8.2) is provided in the conveyor (8.1), each two partition plate distance is more than
The diameter of one shaddock to be sorted.
6. the shaddock quality method for separating of view-based access control model technology according to claim 5, it is characterised in that：The conveyor
(8.1) it is arranged on detection platform one side, the height that the distance of the detection platform and conveyor is more than the partition plate (8.2) is less than
The diameter of shaddock to be sorted.
7. the shaddock quality method for separating of view-based access control model technology according to claim 2, it is characterised in that：It is described to be provided with
The intersection of positioning push mechanism (7) offers the straight slot moved for the positioning push mechanism (7), the positioning push mechanism
(7) include liftable push rod (7.2), screw (7.7) and sliding block (7.4) composition, the liftable push rod (7.2) and be equipped with machinery
Pawl treats sorting shaddock normotopia and push by gripper realization.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711312224.6A CN108097603B (en) | 2017-12-06 | 2017-12-06 | Grapefruit quality sorting method based on visual technology |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201711312224.6A CN108097603B (en) | 2017-12-06 | 2017-12-06 | Grapefruit quality sorting method based on visual technology |
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| CN108097603B CN108097603B (en) | 2020-07-31 |
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| CN108097603B (en) | 2020-07-31 |
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