CN108133199A - A kind of device and method of spherical fruit orientation detection and adjustment based on image identification - Google Patents
A kind of device and method of spherical fruit orientation detection and adjustment based on image identification Download PDFInfo
- Publication number
- CN108133199A CN108133199A CN201810036876.XA CN201810036876A CN108133199A CN 108133199 A CN108133199 A CN 108133199A CN 201810036876 A CN201810036876 A CN 201810036876A CN 108133199 A CN108133199 A CN 108133199A
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- China
- Prior art keywords
- hole
- plate
- idler wheel
- cylinder
- bearing
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- 235000013399 edible fruits Nutrition 0.000 title claims abstract description 31
- 238000001514 detection method Methods 0.000 title claims abstract description 11
- 238000000034 method Methods 0.000 title claims abstract description 9
- 239000000203 mixture Substances 0.000 claims description 3
- 239000004575 stone Substances 0.000 abstract description 2
- 240000001008 Dimocarpus longan Species 0.000 description 6
- 235000000235 Euphoria longan Nutrition 0.000 description 6
- 238000010586 diagram Methods 0.000 description 3
- 230000000694 effects Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 235000013305 food Nutrition 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 239000002699 waste material Substances 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
Classifications
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V20/00—Scenes; Scene-specific elements
- G06V20/10—Terrestrial scenes
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/0002—Inspection of images, e.g. flaw detection
- G06T7/0004—Industrial image inspection
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/70—Determining position or orientation of objects or cameras
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/30—Subject of image; Context of image processing
- G06T2207/30108—Industrial image inspection
- G06T2207/30128—Food products
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V20/00—Scenes; Scene-specific elements
- G06V20/60—Type of objects
- G06V20/68—Food, e.g. fruit or vegetables
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Theoretical Computer Science (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Quality & Reliability (AREA)
- Multimedia (AREA)
- Length Measuring Devices By Optical Means (AREA)
Abstract
The invention discloses a kind of spherical fruit orientation detection based on image identification and the device and methods of adjustment, it is characterized in that, including bearing, camera, sliding rail, idler wheel and cylinder, wherein, bearing is made of two blocks of side plates and the top plate, upper backup pad, lower supporting plate and the bottom plate that are fixedly arranged between side plate, cover top surface is equipped with elongated through-hole, long strip through hole is equipped with above the side plate on the bearing left side, sliding rail stretches into long strip through hole and is set horizontal by angle tilt, camera is installed in upper backup pad top surface, and quantity is 3；Idler wheel is installed in lower supporting plate top surface, and quantity is at least 3, and the motor of an adjustable speed is configured in each idler wheel；Cylinder is located at below lower supporting plate, and mandril is equipped in cylinder barrel.The advantages that the configuration of the present invention is simple, reasonable design, can install machines to replace manual labor labour, the orientation detection being automatically performed before spherical extracting fruit stone and adjustment, and the digging core process for next step lays the foundation, adaptable strong, working efficiency height, high degree of automation.
Description
Technical field
The invention belongs to food processing machinery technical fields, and in particular to a kind of spherical fruit orientation based on image identification
Detection and the device and method of adjustment.
Background technology
Before spherical fruit process if uncomfortable perfect square position, processing effect is bad, and pulp loss is big.Dependence manually adjusts
It is inefficient if orientation, waste of manpower.And realize that the big key point that core is dug in spherical fruit automation peeling is fruit side
The adjust automatically of position.
Invention content
The present invention provides a kind of spherical fruit orientation detection based on image identification and the devices of adjustment, solve spherical water
Fruit is processed（Decortication stoning）The problem of prelocalization is difficult, the spherical fruit after orientation adjustment can be sent into it with desired orientation
It, which is removed the peel, digs in nuclear device.
In order to achieve the above object, the technical solution used in the present invention is：
A kind of device of spherical fruit orientation detection and adjustment based on image identification, which is characterized in that including bearing, camera shooting
Head, sliding rail, idler wheel and cylinder, wherein, bearing is by two blocks of side plates and the top plate being fixedly arranged between side plate, upper backup pad, lower support
Plate and bottom plate composition, cover top surface are set along its length there are one elongated through-hole, which prolongs in the middle part of top plate
Extend to the left side of top plate；First through hole is equipped in the middle part of upper backup pad, the second through-hole is equipped in the middle part of lower supporting plate；The bearing left side
It is set above side plate there are one elongated through-hole, sliding rail stretches into elongated through-hole, and is set horizontal by angle tilt, the lower end of sliding rail
The left side of first through hole is connect and is located at upper backup pad, and upper end is located at the outside of the side plate on the stent left side；Camera and upper branch
Fagging top surface is fixedly connected, and quantity is 3, respectively positioned at the front of first through hole, rear and right；Idler wheel is installed in lower support
The top surface of plate, quantity is at least 3, and is circumferentially distributed centered on the center of circle of the second through-hole, and each idler wheel is configured one
The motor of adjustable speed rolls under the driving of motor；The direction of camera is towards the center at the top of idler wheel；Cylinder passes through
Supporting rack is connect with the side plate on the right of bearing, below lower supporting plate, and it is coaxial with the second through-hole, top is equipped in cylinder barrel
Bar, the top highest of mandril can extend to the top face of top plate.
The spherical fruit orientation detection identified based on image and the application method of the device of adjustment, feature are existed
In including the following steps：
（1）Spherical fruit to be adjusted is slipped into the top position of the idler wheel of circle distribution by sliding rail, which is processing stations；
（2）Each idler wheel does not stop to rotate at different rates, and spherical fruit can be controlled to be rotated towards different directions；
（3）Camera above computer control rotary work station ceaselessly shoots fruit image, and carry out image identification, searches out
Correct orientation, and motor speed is controlled, spherical fruit is made to rotate to correct orientation；
（4）After spherical fruit orientation adjustment is correct, drive mandril by it to the top face of top plate by the cylinder of lower section, convenient for it
Into next processing stations.
Beneficial effects of the present invention：The configuration of the present invention is simple, reasonable design, can install machines to replace manual labor labour, automatically
The orientation detection before spherical extracting fruit stone and adjustment are completed, the digging core process for next step lays the foundation, adaptable strong, work
The advantages that making efficient, high degree of automation.
Description of the drawings
Fig. 1 is the general structure schematic diagram of the embodiment of the present invention one；
Fig. 2 is the schematic front view of the embodiment of the present invention one；
Fig. 3 is schematic diagram of the idler wheel of the embodiment of the present invention one when placing longan；
Schematic diagram when Fig. 4 is the mandril ejection longan of the embodiment of the present invention one.
In figure, bearing 1, side plate 1-1, top plate 1-2, upper backup pad 1-3, lower supporting plate 1-4, bottom plate 1-5, elongated through-hole 1-
6, long strip through hole 1-7, first through hole 1-8, the second through-hole 1-9, camera 2, sliding rail 3, idler wheel 4, cylinder 5, motor 6, mandril 7,
Supporting rack 8.
Specific embodiment
The present invention will be further described with reference to the accompanying drawings and detailed description.
Embodiment one
As depicted in figs. 1 and 2, the present invention includes bearing 1, camera 2, sliding rail 3, idler wheel 4 and cylinder 5, wherein, bearing 1 is by two
The block side plate 1-1 and top plate 1-2 being fixedly arranged between side plate 1-1, upper backup pad 1-3, lower supporting plate 1-4 and bottom plate 1-5 compositions, top
Plate 1-2 upper surfaces are set along its length there are one elongated through-hole 1-6, and elongated through-hole 1-6 to be extended in the middle part of top plate 1-2
The left side of top plate 1-2；First through hole 1-8 is equipped in the middle part of upper backup pad 1-3, the second through-hole 1- is equipped in the middle part of lower supporting plate 1-4
9；It being set above the side plate 1-1 on 1 left side of bearing there are one long strip through hole 1-7, sliding rail 3 stretches into long strip through hole 1-7, and horizontal by
Angle tilt is set, and the lower end of sliding rail 3 connect with upper backup pad 1-3 and is located at the left side of first through hole 1-8, and upper end is located at bearing
The outside of the side plate 1-1 on 1 left side.
Camera 2 is fixedly connected with upper backup pad 1-3 top surfaces, quantity be 3, respectively positioned at the front of first through hole 1-8,
Rear and right.The effect of camera 2 is to identify the orientation of spherical fruit, and computer controls motor 6 according to the orientation identified,
Spherical fruit is made to rotate to correct orientation.
Idler wheel 4 is installed in the top surface of lower supporting plate 1-4, and quantity is 6, and is in centered on the center of circle of the second through-hole 1-9
Circle distribution, each idler wheel 4 are configured the motor 6 of an adjustable speed, are rolled under the driving of motor 6.The direction of camera 2 is equal
Towards the center at 4 top of idler wheel.
Cylinder 5 connect by the side plate 1-1 on 1 the right of supporting rack 8 and bearing, positioned at lower supporting plate 1-4 lower sections, and with second
Through-hole 1-9 is coaxial, and mandril 7 is equipped in 5 cylinder barrel of cylinder, and the top highest of mandril 7 can extend to the top face of top plate 1-2.Mandril 7
The spherical fruit in orientation can will be adjusted under the driving of cylinder 5 to the top face of top plate 1-2, enters next add convenient for it
Work station.The movement of cylinder 5 is by coupled solenoid valve control.
For clamping and adjust longan, work step of the invention is as follows：
（1）Longan to be adjusted is slipped into the top position of the idler wheel 4 of circle distribution by sliding rail 3, which is processing stations, is such as schemed
Shown in 3.
（2）Each idler wheel 4 does not stop to rotate at different rates, and longan can be controlled to be rotated towards different directions.
（3）Camera 2 above computer control rotary work station ceaselessly shoots fruit image, and carry out image identification,
Correct orientation is searched out, and controls 6 rotating speed of motor, fruit is made to rotate to correct orientation.
（4）After longan orientation adjustment is correct, top face of the mandril 7 by it to top plate 1-2 is driven by the cylinder 5 of lower section,
Enter next processing stations convenient for it, as shown in Figure 4.
Embodiment described above is only that the preferred embodiment of the present invention is described, not to the scope of the present invention
It is defined, under the premise of design spirit of the present invention is not departed from, those skilled in the art make technical scheme of the present invention
Various modifications and improvement, should all fall into the protection domain that claims of the present invention determines.
Claims (2)
1. a kind of device of spherical fruit orientation detection and adjustment based on image identification, which is characterized in that including bearing（1）、
Camera（2）, sliding rail（3）, idler wheel（4）And cylinder（5）, wherein, bearing（1）By two blocks of side plates（1-1）Be fixedly arranged on side plate（1-
1）Between top plate（1-2）, upper backup pad（1-3）, lower supporting plate（1-4）And bottom plate（1-5）Composition, top plate（1-2）Upper surface
Elongated through-hole there are one setting along its length（1-6）, the elongated through-hole（1-6）From top plate（1-2）Middle part extend to top plate
（1-2）Left side；Upper backup pad（1-3）Middle part is equipped with first through hole（1-8）, lower supporting plate（1-4）It is logical that middle part is equipped with second
Hole（1-9）；Bearing（1）The side plate on the left side（1-1）Top is set there are one long strip through hole（1-7）, sliding rail（3）Stretch into long strip through hole
（1-7）, and set horizontal by angle tilt, sliding rail（3）Lower end and upper backup pad（1-3）It connects and is located at first through hole
（1-8）Left side, upper end is located at stent（1）The side plate on the left side（1-1）Outside；Camera（2）With upper backup pad（1-3）Top surface
It is fixedly connected, quantity is 3, respectively positioned at first through hole（1-8）Front, rear and right；Idler wheel（4）It is installed in lower support
Plate（1-4）Top surface, quantity is at least 3, and with the second through-hole（1-9）The center of circle centered on be circumferentially distributed, each idler wheel
（4）The motor of an adjustable speed is configured（6）, in motor（6）Driving under roll；Camera（2）Direction towards idler wheel
（4）The center at top；Cylinder（5）Pass through supporting rack（8）With bearing（1）The side plate on the right（1-2）Connection, positioned at lower support
Plate（1-4）Lower section, and with the second through-hole（1-9）Coaxially, cylinder（5）Mandril is equipped in cylinder barrel（7）, mandril（7）Top highest
Top plate can be extended to（1-2）Top face.
2. a kind of use using the spherical fruit orientation detection described in claim 1 based on image identification and the device of adjustment
Method, which is characterized in that include the following steps：
Step 1：Spherical fruit to be adjusted is by sliding rail（3）Slip into the idler wheel of circle distribution（4）Top position, which is
Processing stations；
Step 2：Each idler wheel（4）Do not stop to rotate at different rates, spherical fruit can be controlled to be rotated towards different directions；
Step 3：Camera above computer control rotary work station（2）Fruit image is ceaselessly shot, and carries out image knowledge
Not, correct orientation is searched out, and controls motor（6）Rotating speed makes spherical fruit rotate to correct orientation；
Step 4：After spherical fruit orientation adjustment is correct, by the cylinder of lower section（5）Drive mandril（7）By it to top plate（1-2）'s
Top face enters next processing stations convenient for it.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810036876.XA CN108133199A (en) | 2018-01-15 | 2018-01-15 | A kind of device and method of spherical fruit orientation detection and adjustment based on image identification |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810036876.XA CN108133199A (en) | 2018-01-15 | 2018-01-15 | A kind of device and method of spherical fruit orientation detection and adjustment based on image identification |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108133199A true CN108133199A (en) | 2018-06-08 |
Family
ID=62399762
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810036876.XA Pending CN108133199A (en) | 2018-01-15 | 2018-01-15 | A kind of device and method of spherical fruit orientation detection and adjustment based on image identification |
Country Status (1)
| Country | Link |
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| CN (1) | CN108133199A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110084798A (en) * | 2019-04-25 | 2019-08-02 | 广州富港万嘉智能科技有限公司 | A kind of orientation detection and method of adjustment, device and storage medium of melon and fruit |
| CN115041419A (en) * | 2022-06-13 | 2022-09-13 | 嘉应学院 | Spherical fruit orientation detection and adjustment device based on image recognition |
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| CN104490030A (en) * | 2014-11-19 | 2015-04-08 | 浙江大学 | Pearl posture adjusting device for threading pearls |
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| CN106203527A (en) * | 2016-07-12 | 2016-12-07 | 沈阳东之昕智能科技有限公司 | A kind of visual identity method for extracting fruit stone |
| CN107576304A (en) * | 2017-10-18 | 2018-01-12 | 庞雨 | A kind of device and method of core class fruit orientation detection and adjustment based on image recognition |
| CN208044624U (en) * | 2018-01-15 | 2018-11-02 | 庞雨 | A kind of device of ball fruit orientation detection and adjustment based on image recognition |
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2018
- 2018-01-15 CN CN201810036876.XA patent/CN108133199A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102692419A (en) * | 2012-01-15 | 2012-09-26 | 河南科技大学 | Spherical fruit and vegetable image acquisition device and method based on machine vision |
| CN104490030A (en) * | 2014-11-19 | 2015-04-08 | 浙江大学 | Pearl posture adjusting device for threading pearls |
| CN204515339U (en) * | 2015-04-15 | 2015-07-29 | 嘉兴市蓝欣电子科技有限公司 | A kind of camera automatic focusing machine |
| CN106203527A (en) * | 2016-07-12 | 2016-12-07 | 沈阳东之昕智能科技有限公司 | A kind of visual identity method for extracting fruit stone |
| CN107576304A (en) * | 2017-10-18 | 2018-01-12 | 庞雨 | A kind of device and method of core class fruit orientation detection and adjustment based on image recognition |
| CN208044624U (en) * | 2018-01-15 | 2018-11-02 | 庞雨 | A kind of device of ball fruit orientation detection and adjustment based on image recognition |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110084798A (en) * | 2019-04-25 | 2019-08-02 | 广州富港万嘉智能科技有限公司 | A kind of orientation detection and method of adjustment, device and storage medium of melon and fruit |
| CN110084798B (en) * | 2019-04-25 | 2021-10-22 | 广州富港万嘉智能科技有限公司 | Orientation detection and adjustment method and device for melons and fruits and storage medium |
| CN115041419A (en) * | 2022-06-13 | 2022-09-13 | 嘉应学院 | Spherical fruit orientation detection and adjustment device based on image recognition |
| CN115041419B (en) * | 2022-06-13 | 2024-01-23 | 嘉应学院 | Spherical fruit azimuth detecting and adjusting device based on image recognition |
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Application publication date: 20180608 |