CN108160523A - A kind of exterior quality self-grading device based on computer vision technique - Google Patents

A kind of exterior quality self-grading device based on computer vision technique Download PDF

Info

Publication number
CN108160523A
CN108160523A CN201810162203.9A CN201810162203A CN108160523A CN 108160523 A CN108160523 A CN 108160523A CN 201810162203 A CN201810162203 A CN 201810162203A CN 108160523 A CN108160523 A CN 108160523A
Authority
CN
China
Prior art keywords
grading
computer vision
unit
vision technique
exterior quality
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.)
Withdrawn
Application number
CN201810162203.9A
Other languages
Chinese (zh)
Inventor
王芳原
Original Assignee
王芳原
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by 王芳原 filed Critical 王芳原
Priority to CN201810162203.9A priority Critical patent/CN108160523A/en
Publication of CN108160523A publication Critical patent/CN108160523A/en
Withdrawn legal-status Critical Current

Links

Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B07SEPARATING SOLIDS FROM SOLIDS; SORTING
    • B07CPOSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
    • B07C5/00Sorting 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
    • B07C5/34Sorting according to other particular properties
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B07SEPARATING SOLIDS FROM SOLIDS; SORTING
    • B07CPOSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
    • B07C5/00Sorting 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
    • B07C5/36Sorting apparatus characterised by the means used for distribution
    • B07C5/361Processing or control devices therefor, e.g. escort memory

Abstract

The invention discloses a kind of exterior quality self-grading device based on computer vision technique, including feed unit, including feeding assembly and rotating folding component;Transmission unit, including conveying assembly and interval regulatory component, the interval regulatory component includes the second actuator, cranks arm and wobble-member, second actuator are attached with described one end cranked arm, and the other end cranked arm is hinged with sliding block;Discharging unit, the setting with the pusher unit correspond, and the discharging unit includes discharging track;And recognition unit, including acquisition component and cantilever supporting frame, the acquisition component is fixed on the inside of feeding assembly by cantilever supporting frame.The present invention combines the effect of transmission unit and pusher unit by computer vision technique, can realize that, to the automatic identification of apple exterior quality and classification processing, without manually participating in production process, production efficiency is high, have higher the degree of automation level.

Description

A kind of exterior quality self-grading device based on computer vision technique
Technical field
The present invention relates to fruit process technical field, particularly a kind of exterior quality based on computer vision technique is automatic Grading plant.
Background technology
Apple is during picking and transport, because the effect of external force easily makes its epidermis mechanically damaged or table Though skin is not damaged, injured surface has slight depression, and the slightly dimmed situation of color and luster is visually difficult to observe.Damaging, abrading is apple One of leading indicator of classification, with the extension of time, damaged portion can gradual brown stain, eventually lead to entire fruit rot and shadow Other good apples are rung, seriously affect economic benefit, and for the common interest of businessman and buyer, need to different qualities Apple carry out classification processing.
In the grade scale of apple, the shape of fruit, color and luster, the indexs such as fray measurement, only with the vision of human eye hardly possible To accurately distinguish.And due to the development of agricultural automation degree, the picking enormous amount of apple, traditional manual grading skill is by pole Big limitation, the amount of labour is big, low production efficiency, it is difficult to meet the requirements.
In recent years, with the high speed development of image processing techniques and computer technology, using computer vision technique to mesh Mark object is detected identification, is equipped with gearing and the actions such as is captured, classified to target object, either in industrial circle Or agriculture field, is just increasingly obtaining in-depth study and multidirectional application.Wherein, the automation of fruit is classified just From traditional pure physical mechanical stage division gradually to the lossless or low damage stage division based on being identified with Machine Vision Detection Transformation.But at present many Apple Automatic Grading system do not consider the problems of it is single by and many systems during fruit transmission A part of artificial participation is still needed to, the degree of automation is not high, and production efficiency is insufficient.In addition, general automatic grading of fruits system Conveyer belt is conveyed for duration, is easy to cause situations such as sorting not in time or being classified error in this way.Many automatic grading of fruits System is often only acquired detection to factors such as the fruit shape of fruit, quality and abrasions, and ignores the Zhen of fruit size size Choosing, and acquisition environment and angle are single, information collection is not comprehensive.
Invention content
The purpose of this part is to summarize some aspects of the embodiment of the present invention and briefly introduce some preferably to implement Example.It may do in this section and the description of the application and the title of the invention a little simplified or omit to make our department Point, the purpose of abstract of description and denomination of invention obscure, and this simplification or omit and cannot be used for limiting the scope of the invention.
In view of the problem of above-mentioned and/or existing self-grading device, it is proposed that the present invention.
Therefore, the one of purpose of the present invention is to provide a kind of exterior quality based on computer vision technique and divides automatically Stage arrangement can realize the automatic classification to apple exterior quality, and with higher the degree of automation.
In order to solve the above technical problems, the present invention provides following technical solution:It is a kind of outer based on computer vision technique Quality self-grading device is seen, including feed unit, it is automatic to be set to the exterior quality based on computer vision technique The top of grading plant, including feeding assembly and rotating folding component, the rotating folding component is fixed on the feeding assembly Bottom;Transmission unit, is set to the lower section of the feed unit, and the transmission unit includes conveying assembly and interval regulation and control group Part, the interval regulatory component are set to the side of the conveying assembly, and be both set up on support unit;Described Include the second actuator every regulatory component, crank arm and wobble-member, second actuator are attached with described one end cranked arm, The other end cranked arm is hinged with sliding block, and slide opening is provided on the sliding block;Discharging unit, the setting with the pusher unit It corresponds, the discharging unit includes discharging track, and there are one material collecting barrels for the lower end correspondence of the discharging track;It is described go out Expect that track includes the first discharging channel, first discharging channel divides into the firstth area and the secondth area, and secondth area is set to described The lower end in the firstth area, and the two interconnects;Sorting holes are offered in firstth area, the lower end of the sorting holes is correspondingly arranged There is the second discharging channel;And recognition unit, including acquisition component and cantilever supporting frame, the acquisition component passes through the overhanging branch Frame is fixed on the inside of the feeding assembly.
The inner end of the cantilever supporting frame is fixed with rotary shaft, and is provided on the medial surface of the feeding assembly and is matched with institute The vertical fixed frame of rotary shaft is stated, the rotary shaft is attached with the vertical fixed frame by positioning component.
Beneficial effects of the present invention:The present invention combines transmission unit and pusher unit by computer vision technique Effect can be realized to the automatic identification of apple exterior quality and classification processing, without manually participating in production process, production effect Rate is high, can carry out accurate classification processing to apple, has higher the degree of automation level.And the setting energy of discharging unit It is enough that screening differentiation is carried out to the size of apple, and the present invention can obtain ideal acquisition position and shooting environmental, have preferable Flexibility.
Description of the drawings
In order to illustrate the technical solution of the embodiments of the present invention more clearly, required use in being described below to embodiment Attached drawing be briefly described, it should be apparent that, the accompanying drawings in the following description is only some embodiments of the present invention, for this For the those of ordinary skill of field, without having to pay creative labor, it can also be obtained according to these attached drawings other Attached drawing.Wherein:
Fig. 1 is the present invention is based on described in exterior quality self-grading device one embodiment of computer vision technique Feed unit and transmission unit connection diagram.
Fig. 2 is the present invention is based on described in exterior quality self-grading device one embodiment of computer vision technique Feed unit structure diagram.
Fig. 3 is the present invention is based on described in exterior quality self-grading device one embodiment of computer vision technique Closeouts overall structure diagram.
Fig. 4 is the present invention is based on described in exterior quality self-grading device one embodiment of computer vision technique Closeouts structural blast schematic diagram.
Fig. 5 is the present invention is based on described in exterior quality self-grading device one embodiment of computer vision technique Rotating folding component mounting position schematic diagram.
Fig. 6 is the present invention is based on described in exterior quality self-grading device one embodiment of computer vision technique Rotating folding component overall structure diagram.
Fig. 7 is the present invention is based on described in exterior quality self-grading device one embodiment of computer vision technique Opening and closing part structure diagram.
Fig. 8 is the present invention is based on described in exterior quality self-grading device one embodiment of computer vision technique Opening and closing part rounding state and opening Structure Comparison schematic diagram.
Fig. 9 is the present invention is based on described in second embodiment of exterior quality self-grading device of computer vision technique Overall structure front schematic view.
Figure 10 is the present invention is based on described in second embodiment of exterior quality self-grading device of computer vision technique The second drive member structure schematic diagram.
Figure 11 is the present invention is based on described in second embodiment of exterior quality self-grading device of computer vision technique Interval regulatory component structural blast schematic diagram.
Figure 12 is the present invention is based on described in second embodiment of exterior quality self-grading device of computer vision technique Interval regulatory component overall structure diagram.
Figure 13 is the present invention is based on described in the exterior quality self-grading device third embodiment of computer vision technique Overall structure diagram.
Figure 14 is the present invention is based on described in the exterior quality self-grading device third embodiment of computer vision technique Discharging track structure diagram.
Figure 15 is the present invention is based on described in the 4th embodiment of exterior quality self-grading device of computer vision technique Positioning component schematic view of the mounting position.
Figure 16 is the present invention is based on described in the 4th embodiment of exterior quality self-grading device of computer vision technique Positioning component structural blast schematic diagram.
Figure 17 is the present invention is based on described in the 4th embodiment of exterior quality self-grading device of computer vision technique Magnetic force switch block part overall structure diagram.
Figure 18 is the present invention is based on described in the 4th embodiment of exterior quality self-grading device of computer vision technique Wear ring overall structure diagram.
Figure 19 is the present invention is based on described in the 4th embodiment of exterior quality self-grading device of computer vision technique Rotary shaft overall structure diagram.
Figure 20 is the present invention is based on described in the 4th embodiment of exterior quality self-grading device of computer vision technique Positioning component overall structure diagrammatic cross-section.
Specific embodiment
In order to make the foregoing objectives, features and advantages of the present invention clearer and more comprehensible, it is right with reference to the accompanying drawings of the specification The specific embodiment of the present invention is described in detail.
Many details are elaborated in the following description to facilitate a thorough understanding of the present invention, still the present invention can be with Implemented using other different from other manner described here, those skilled in the art can be without prejudice to intension of the present invention In the case of do similar popularization, therefore the present invention is not limited by following public specific embodiment.
Secondly, " one embodiment " or " embodiment " referred to herein refers to may be included at least one realization side of the present invention A particular feature, structure, or characteristic in formula." in one embodiment " that different places occur in the present specification not refers both to Same embodiment, nor the individual or selective embodiment mutually exclusive with other embodiment.
It is first embodiment of the invention with reference to Fig. 1~8, this embodiment offers one kind to be based on computer vision technique Exterior quality self-grading device.As shown in Figure 1, the exterior quality self-grading device based on computer vision technique Agent structure include feed unit 100, transmission unit 200 and support unit 300.
Wherein, such as Fig. 2, feed unit 100 is to launch the beginning mechanism of material (i.e. apple), the apple of required identification and classification Fruit puts into transmission unit 200 from feed unit 100, into subsequent production line.
Transmission unit 200 is the transport mechanism for transmitting apple, is set to below feed unit 100, and support unit 300 The then support system for the present invention, is used to support and erects upper mechanism.
Specifically, feed unit 100 is set to the exterior quality self-grading device based on computer vision technique Top, including feeding assembly 101 and rotating folding component 102, rotating folding component 102 is fixed on feeding assembly 101 Bottom.Wherein, feeding assembly 101 can divide into feed hopper 101a and be set to the closeouts 101b of feed hopper 101a sides, The two interconnects.Feed hopper 101a is the immediate access that apple is launched, open-minded on the one side being connect with closeouts 101b There is feeding-passage 101c.Feeding-passage 101c allows the apple for putting into feed hopper 101a without hindrance can to pass through, and enter envelope Inside blocking piece 101b.Therefore, feed hopper 101a is to be formed to connect with the inside of closeouts 101b by feeding-passage 101c, and into It is the hole that size is more than apple to expect channel 101c, can be ensured under normal circumstances, the apple of arbitrary dimension can by into Hopper 101a is entered in closeouts 101b.
Further, closeouts 101b, which is used to implement, is turned on and off feeding-passage 101c, so as to control assembly line Supply.Specifically, as shown in Figure 3,4, closeouts 101b includes tube body 101b-1 and plugging block 101b-2, wherein, tube body 101b-1 is the pipe structure in round rectangle section, divides into external tubular shell and the channel of enclosure interior.Tube body The Single port of 101b-1 is docked with feeding-passage 101c so that the inner passage of tube body 101b-1 is formed with feed hopper 101a to be connected It is logical, and the downside of tube body 101b-1 is further opened with downcast hole X, downcast hole X is more than apple size so that from feeding-passage 101c Apple into tube body 101b-1 inner passages can fall to transmission unit 200 from downcast hole X.
The external port of tube body 101b-1 is provided with plugging block 101b-2.The main body of plugging block 101b-2 is is matched with tube body The inside of tube body 101b-1 is inserted into the block structure of 101b-1 inner passages size, one end of plugging block 101b-2, and can be Stretching motion is carried out in its channel, the two sides of the other end are fixed with the mutually symmetrical with branch 101b-3 of a pair of of structure.Branch 101b-3 is overhanging strut, and one end is fixed on the side of plugging block 101b-2, and what the other end bend subsequently points to feed Struggle against the direction of 101a, and be pressed on tube body 101b-1 lateral surface (with certain prestressing force under branch's 101b-3 original states, two The spacing of a branch 101b-3 ends is less than the width of tube body 101b-1 in its natural state, and branch 101b-3 has centainly again Toughness, therefore it can be pressed on the side mountain of tube body 101b-1).
Further, crotch 101b-4, the direction face envelope of crotch 101b-4 are provided at the external end head of branch 101b-3 The lateral surface of blocking piece 101b.Meanwhile the double wedge that a row corresponds to crotch 101b-4 is both provided on the two sides of closeouts 101b Area 101b-5.Double wedge area 101b-5 is formed by several densely arranged double wedge shape structural arrangements, each of which double wedge can with it is curved Hook 101b-4 forms occlusion.Under normal circumstances, due to the effect of crotch 101b-4, plugging block 101b-2 is in tube body 101b-1 Can only inwardly push, and can not outside withdrawing, and after the inner termination of plugging block 101b-2 is pushed to feeding-passage 101c, shape Into closure so that the apple in feed hopper 101a can not be transferred into next step.
Further, the periphery of tube body 101b-1 is also arranged with solution lock ring 101b-6, solution lock ring 101b-6 for strutting two The branch 101b-3 of side, allow crotch 101b-4 unlock so that plugging block 101b-2 also can outside withdrawing, be finally reached closure Block 101b-2 carries out the effect freely stretched and can positioned in time in tube body 101b-1.Lock ring 101b-6 is solved to tie to be cyclic annular Structure is sheathed on the periphery of tube body 101b-1, and positioned at the inside of branch 101b-3.Preferably, the inside of solution lock ring 101b-6 On face there is block-like limit protrusion 101b-7, and then have on the lateral wall of tube body 101b-1 and be matched with limit protrusion 101b-7 Limiting groove 101b-8.Limiting groove 101b-8 is strip groove profile, and length corresponds to the scalable length of solution lock ring 101b-6 Degree.
It should be noted that in invention, the beginning width of both sides branch 101b-3 is more than the width of solution lock ring 101b-6, And the width of its end is less than the width of solution lock ring 101b-6.Therefore, when solution lock ring 101b-6 is in the outer end of tube body 101b-1 During mouth position, do not contacted with the branch 101b-3 of both sides.When pushing, solution lock ring 101b-6 is inside along limiting groove 101b-8 When slip, outside comes into contact with and squeezes branch 101b-3, struts it, so that crotch 101b-4 and double wedge area 101b-5 is gradually disengaged, and realizes unlock.
As shown in Figure 1, the invention also includes support unit 300, support unit 300 includes the first support portion 301 and second Support portion 302, and the two overlaps.Stent or platform may be used in first support portion 301 and the second support portion 302, main It is used to support 200 grade upper components of feed unit 100 and transmission unit.Specifically, feed hopper 101a passes through the first support element 301a is fixed on the top of the first support portion 301, and closeouts 101b is fixed on the second support portion 302 by the second support element 302a Top.
In the present invention, such as Fig. 5~7, rotating folding component 102 includes the first actuator 102a, the first driving member 102b With opening and closing part 102c, and three is attached successively, forms transmission.Rotating folding component 102 is delivered to downcast hole X for controlling The apple at place falls situation, can realize that apple is only capable of single pass through every time.Specifically, the first actuator 102a is rotation The work of folding component 102 provides power, and motor may be used to realize.First driving member 102b be and the first actuator In the present invention, worm and gear combination may be used in the transmission mechanism that 102a is attached, and turbine therein is further through institute Gear in shaft is attached with opening and closing part 102c, forms transmission.
Further, opening and closing part 102c includes retainer ring 102c-1 and external toothing 102c-2, and external toothing 102c-2 is set to The periphery of retainer ring 102c-1.Wherein, retainer ring 102c-1 is cyclic structure, on the downside of central through hole and tube body 101b-1 under It is consistent to fall hole X dimension, and mutually faces.Opening and closing part 102c is fixed on the lower surface of tube body 101b-1 by retainer ring 102c-1.
At least two block piece 102c-3 (in the present invention temporarily for three), blocking are connected on retainer ring 102c-1 Part 102c-3 carries out uniformly arrangement setting according to a direction (as counterclockwise).Three block piece 102c-3 are engaged, shape Integral platy structure, the identical structure of each monomer is identical, and may be contained within the downside of retainer ring 102c-1.Further, It is hinged at the outer peripheral angle ends of block piece 102c-3 with retainer ring 102c-1.
Further, the contact bar corresponding to block piece 102c-3 quantity and position is provided on the inside of external toothing 102c-2 One end of 102c-4, each contact bar 102c-4 are articulated with the madial wall of external toothing 102c-2, the other end by axle bed 102c-5 It is hinged with the block piece 102c-3 corresponding to it.In the present invention, when the first actuator 102a drives external toothing 102c-2 When being rotated clockwise, the external toothing 102c-2 of movement by contact bar 102c-4 pull each block piece 102c-3 into Row is respective to be rotated clockwise, at this point, all block piece 102c-3 from " removing " on the downside of retainer ring 102c-1, then script is under It falls the apple that hole X is fallen on block piece 102c-3 to eventually fall on transmission unit 200, this state is opening.
Similarly, as shown in figure 8, when the first actuator 102a drives external toothing 102c-2 to carry out counterclockwise rotating backward it When, all block piece 102c-3 are resetted, and head and the tail splice each other, disc-shaped structure are collectively formed, this state is Rounding state.Preferably, block piece 102c-3 is in rounding state, the disc-shaped structure being made of block piece 102c-3 is just It can block in the downside of retainer ring 102c-1, support platform is provided for subsequent apple.
With reference to Fig. 9~12, for second embodiment of the present invention, which is different from one embodiment:It passes Unit 200 is sent to include conveying assembly 201 and interval regulatory component 202.Conveying assembly 201 is used for transmission apple, carries out subsequent Sorting, and regulatory component 202 is spaced for controlling the transmission form of conveying assembly 201, it is made to be passed in a manner of step-type It is defeated, i.e., it is moved into between-line spacing, is used to identify apple quality and be sorted in interval time.Interval regulatory component 202 is set In the side of conveying assembly 201, and both it is set up on the second support portion 302.
Further, conveying assembly 201 includes conveyer belt 201a, driving drum 201b and guide pulley 201c, such as Fig. 9 institutes Show, driving drum 201b and guide pulley 201c is respectively arranged at the both ends of conveyer belt 201a, and conveyer belt 201a corresponds to biography One end of dynamic roller 201b is located at the underface of opening and closing part 102c so that the apple fallen from block piece 102c-3 can be just Fall on conveyer belt 201a that (conveyer belt 201a is generally rubber or the soft material of other materials, during preventing apple from falling The outer damage that is generated to it of impact).Intert in driving drum 201b and be fixed with first rotating shaft 201d, first rotating shaft 201d's One end is provided with the second driving member 201e, and driving drum 201b by the second driving member 201e and interval regulatory component 202 into Row connection, and form transmission.
In the present invention, the mode of V belt translation can be used in the second driving member 201e, i.e. the second driving member 201e includes first Belt pulley 201e-1, the second belt pulley 201e-2, V-belt 201e-3 and driving shaft 201e-4, wherein the first belt pulley 201e-1 It is fixed on first rotating shaft 201d, the second belt pulley 201e-2 is fixed on driving shaft 201e-4, and the first belt pulley 201e-1 V belt translation is formed by V-belt 201e-3 between the second belt pulley 201e-2.Wherein, driving shaft 201e-4 is set up in The outside of two support portions 302.
It is corresponding with driving drum 201b, the second shaft 201f, and first rotating shaft are interspersed in guide pulley 201c 201d and the second shaft 201f is set up in the both sides of the second support portion 302.
In the present invention, such as Figure 11,12, interval regulatory component 202 includes the second actuator 202a, cranks arm and 202b and waves Part 202c.The output power of second actuator 202a passes to wobble-member 202c by the 202b that cranks arm, and the 202b that cranks arm changes fortune Flowing mode so that output torque variation being swung left and right for wobble-member 202c of the second actuator 202a.
Wherein, motor can be used in the second actuator 202a, is fixed on the second support portion 302.Second actuator 202a One end of output terminal and the 202b that cranks arm be fixed.Specifically, the 202b that cranks arm is using the bending body of rod or directly using eccentric Axis, including the first off-axis 202b-1 and the second off-axis 202b-2, the central shaft of the two is not conllinear, and the two passes through fixed link 202b-3 is attached.
Crank arm one end of 202b is attached, and the 202b that cranks arm is another by the first off-axis 202b-1 and the second actuator 202a The second off-axis 202b-2 outer ends of one end are hinged with sliding block 202d, and sliding block 202d can be revolved around the second off-axis 202b-2 Turn.In addition, penetrating slide opening 202d-1 is additionally provided on sliding block 202d.
Wobble-member 202c includes straight-bar area 202c-1 and rotational area 202c-2.Straight-bar area 202c-1 main bodys are round bar shape, Cross sectional dimensions corresponds to the slide opening 202d-1 sizes on sliding block 202d, and the lower end of straight-bar area 202c-1 is interspersed in slide opening In 202d-1 so that sliding block 202d can slidably reciprocate in straight-bar area its axial direction of 202c-1 upper edges.Further, straight-bar area The upper end of 202c-1 is perpendicularly fixed at the outer ledge of rotational area 202c-2.Rotational area 202c-2 is cyclic structure, and rotational area Projectile 202c-3 is hinged at the top position of 202c-2 madial walls, projectile 202c-3 herein is pawl.
Further, on the inside of the ring of rotational area 202c-2 and ring outside is respectively arranged with the first counterpart 202e and second and matches Component 202f, the second counterpart 202f are fixed on the side of the second support portion 302.Specifically, the first counterpart 202e is set On the inside of the ring of rotational area 202c-2, the upper end has the guiding notch 202e-1 corresponding to projectile 202c-3 rocking tendencies, It is one section of minor arc v notch v on the first counterpart 202e to be oriented to notch 202e-1, has cut off the first counterpart 202e.In reality In border, when projectile 202c-3 follows wobble-member 202c to carry out a certain range of oscillating motion, being oriented to notch 202e-1 is The admissible space of projectile 202c-3 motion range is corresponded to.
Second counterpart 202f is set on the outside of the ring of rotational area 202c-2, is provided on madial wall and is matched with rotational area The annular groove 202f-1 of 202c-2 sizes.Specifically, annular groove 202f-1 has a circle, and rotational area 202c-2 can be just embedded in In the annular groove 202f-1 of second counterpart 202f, and relatively rotated in its slot.Meanwhile second counterpart 202f lower end The guiding sealing 202f-2 corresponding to straight-bar area 202c-1 rocking tendencies is additionally provided with, it is penetrating seam to be oriented to sealing 202f-2 Mouthful, correspond to the admissible space of straight-bar area 202c-1 motion range.
Further, be provided with unidirectional part 202g on the inside of the ring of the first counterpart 202e, unidirectional part 202g herein be with Together in the ratchet of projectile 202c-3, projectile 202c-3 can push unidirectional part 202g to be rotated into between-line spacing.In the present invention, it is single Be fixed on driving shaft 201e-4 to part 202g, then wobble-member 202c can be driven by projectile 202c-3 unidirectional part 202g and Driving shaft 201e-4 is rotated into between-line spacing.And in the present invention, the combination of the first counterpart 202e and the second counterpart 202f are then Have the function of to limit and position, the two teamed rotational area 202c-2 jointly makes it be rotated in intermediate course;Meanwhile First counterpart 202e also has the function of that the rotation for unidirectional part 202g is limited.Further, by above-mentioned:Second belt Wheel 201e-2 is fixed on driving shaft 201e-4, then is spaced regulatory component 202 and is driven by the driving shaft 201e-4 and second Part 201e, which is formed, to be sequentially connected.
It in the present invention, can be by wobble-member 202c, the first counterpart 202e, the second counterpart 202f and unidirectional part The combined mechanism of 202g is defined as interval generating mechanism J, then should be noted:In the present invention, the first counterpart 202e passes through The fixed block 202h of its outer rim forms a fixed connection with the second counterpart 202f, meanwhile, interval generating mechanism J passes through the second cooperation Part 202f is fixed on the second support portion 302.
Interval regulatory component 202 the course of work be:First, the second actuator 202a output torques drive the 202b that cranks arm It is rotated.Since the sliding block 202d for 202b outer ends of cranking arm is set on straight-bar area 202c-1, and can slide on, and it is fixed Rotational area 202c-2 at the top of straight-bar area 202c-1 can only be carried out between the first counterpart 202e and the second counterpart 202f It relatively rotates, therefore, the 202b that cranks arm drives wobble-member 202c to be integrally swung left and right.At this point, rotational area 202c-2 madial walls Projectile 202c-3 unidirectional part 202g and driving shaft 201e-4 constantly will reciprocally be pushed to be rotated into between-line spacing, and due to master Moving axis 201e-4 and the second driving member 201e, which is formed, to be driven, therefore the rotation of driving shaft 201e-4 will drive the second driving member 201e And first rotating shaft 201d connected to it is rotated.It will be apparent that first rotating shaft 201d imparts power to transmission rolling Cylinder 201b and conveyer belt 201a, it is achieved thereby that conveyer belt 201a intervals in a manner of step-type are transmitted.
With reference to Figure 13,14, for the third embodiment of the present invention, which is different from second embodiment:It passes The side with 201a is sent to be provided at least three pusher units 400, and conveyer belt 201a is relative to the opposite side of pusher unit 400 Discharging unit 500 is provided with, discharging unit 500 and the installation site of pusher unit 400 correspond.
Specifically, pusher unit 400 is used to the apple sent on conveyer belt 201a being pushed into pair in the present invention In the discharging unit 500 answered.Pusher unit 400 in the present invention includes pusher part 401 and is set to 401 outer end of pusher part Pushing head 402, wherein, pusher part 401 can directly using electric cylinders or other can realize the component of Linear scaling function, and Pushing head 402 is fixed on the push rod outer end of pusher part 401, is concave shaped structure, for being in direct contact and pushing apple.Preferably , the pusher unit 400 in the present invention be provided at least three (present invention is temporarily illustrated by taking three pusher units 400 as an example, But do not limit the scope of the invention), can be respectively used to push different quality grade apple.If for example, according to apple Qualified apple is divided into imperial, Grade A and goods of inferior quality three grades by shape, the factors such as color and luster, fray, weigh wounded, right respectively Answer three pusher units 400 for being arranged in conveyer belt 201a sides.
When the external world identifies the quality of the apple sent, start 400 preparation work of a corresponding pusher unit. When this apple is transmitted to by conveyer belt 201a at corresponding pusher unit 400, pusher unit 400 from sideways against apple, into Enter into corresponding discharging unit 500.
Further, discharging unit 500 pushes the apple to get off, therefore in the present invention for collecting pusher unit 400 In, the opposite of each pusher unit 400 is respectively provided with that there are one discharging units 500.Specifically, discharging unit 500 includes discharging rail Road 501 and material collecting barrel 502, the two are also one-to-one relationship, i.e., are correspondingly arranged at the lower port of each discharging track 501 There are one material collecting barrels 502.Wherein, discharging track 501 divides into the firstth area including the first discharging channel 501a, the first discharging channel 501a 501a-1 and the second area 501a-2, the second area 501a-2 is set to the lower end of the first area 501a-1, and the two interconnects, and needs It is to be noted that:The gradient of second area 501a-2 is more than the first area 501a-1.
Preferably, offering sorting holes 501a-3 on the first area 501a-1, sorting holes 501a-3 is used for the size to apple Size is classified.By above-mentioned:Shape, color and luster, the identical a kind of apple of factors such as fray can be pushed to same place first On material path 501a, but the identical apple of above-mentioned factor can also be there are the difference in size, therefore in the present invention, can be with The size of sorting holes 501a-3 is set more to compromise (average values of apple Outside Dimensions).At the same time, sorting holes 501a- 3 lower end is correspondingly arranged on the second discharging channel 501b, and the upper port of the second discharging channel 501b is fixed on the upper of sorting holes 501a-3 At end margin, and the second area 501a-2 (i.e. the second discharging channels parallel to each other of the second discharging channel 501b and the first discharging channel 501a The gradient of 501b be more than the firstth area 501a-1), so that the apple fallen from sorting holes 501a-3 can take advantage of a situation into Enter the second discharging channel 501b.In the present invention, when the apple size rolled down from the first discharging channel 501a is less than sorting holes 501a- 3, then it can enter the second discharging channel 501b at sorting holes 501a-3;It, then can be after when the size of apple is more than sorting holes 501a-3 It is continuous to tumble down, it is spread out of from the second area 501a-2.Therefore, using the combination of sorting holes 501a-3 and the second discharging channel 501b, It can realize the preliminary classification screening to apple size.To coordinate the first discharging channel 501a and the second discharging channel 501b two The demand of discharge port, material collecting barrel 502 can be arranged to two independent compartments, be respectively used to store the apple of large and small size.
Further, conveyer belt 201a is provided with third discharging channel 503, third corresponding to the at one end of guide pulley 201c Discharging channel 503 is mainly for delivery of underproof apple.It can be completed to imperial, Grade A and goods of inferior quality by the above process The screening of three grades apple, the unqualified apple without being screened will follow conveyer belt 201a to continue to transmit, until end At guide pulley 201c.Corresponding, the lower end of third discharging channel 503 is also provided with there are one corresponding trash receptacle 504, for receiving Collect unqualified apple.
The present invention, which realizes, also needs to the process that the exterior quality of apple is identified, classifies and sorts setting recognition unit 600.Recognition unit 600 mainly using existing computer vision technique, with video camera and computer replace human eye to target into Row identification, tracking and measurement, and further do graphics process.Specifically, recognition unit 600 includes acquisition component 601 and overhanging Stent 602.Wherein, combination of the acquisition component 601 for camera or multiple cameras, is mainly used for shooting and acquiring apple Appearance images.Acquisition component 601 is fixed on the inside of feed hopper 101a by cantilever supporting frame 602, and positioned at conveyer belt 201a's Surface.In addition, recognition unit 600 is also associated with control unit, control unit is used to handle image information and send out for one The computer of action command.
The identification of the heretofore described exterior quality self-grading device based on computer vision technique and sort process For:Apple is put into from feed hopper 101a, realizes that apple is only passed through, and fall to every time with single by rotating folding component 102 On the conveyer belt 201a of lower section.Conveyer belt 201a drives apple onwards transmission one by one, due to being spaced the work of regulatory component 202 With apple follows conveyer belt 201a that can only advance with the step-by-step system that interval is transmitted.When apple is being sent to recognition unit 600 just During lower section, start acquisition component 601 and clap the appearance images for taking apple, and image document is sent to control unit and carries out image knowledge Not, to obtain the external appearance characteristic of apple, and exterior quality classification is carried out to it, forms reserved instruction.When this apple continues to move ahead, When being sent at the pusher unit 400 of corresponding operation, start corresponding pusher part 401, this apple is pushed into corresponding discharging In unit 500.Finally, the apple not acted on by any group of pusher unit 400 is then defective work, follows conveyer belt 201a is sent to end always, is fallen from third discharging channel 503 and is sent to trash receptacle 504.
With reference to Figure 15~20, for the 4th embodiment of the present invention, which is different from third embodiment:It is outstanding The inner end for choosing stent 602 is fixed with rotary shaft 603, and be provided on the medial surface of the feeding assembly 101 and be matched with the rotation The vertical fixed frame 604 of shaft 603, the rotary shaft 603 are connected with the vertical fixed frame 604 by positioning component 700 It connects.Positioning component 700 in normal state can lock relative rotation therebetween, when needs are to vertical fixed frame When space angle between 604 and rotary shaft 603 is adjusted, relative rotation therebetween can be unlocked, and when tune It can continue to the locking for keeping relatively rotating after the completion of whole.
In the present invention, rotary shaft 603 and the top of vertical fixed frame 604 are hinged.It should be noted that above-mentioned reality It applies and quill 603a is additionally provided in the rotary shaft 603 in example, quill 603a generally hollow bushing structures are vertical fixed In the outer end face of rotary shaft 603.The top of vertical fixed frame 604 is then provided with corresponding damping hole 604a, is used for solid vertically Determine the damping rotary between frame 604 and rotary shaft 603 or rotational positioning.
Positioning component 700 includes block 701, magnetic force switch block part 702, pilot sleeve 703, wear ring 704 and magnetic key operated lock Determine block 705.With reference to Figure 16, the installation process of positioning component 700 is:Wear ring 704 is sheathed on the quill of rotary shaft 603 first 603a upper (madial wall of wear ring 704 is fixed with quill 603a, it is impossible to be relatively rotated), then by vertical fixed frame The damping hole 604a at 604 tops is sheathed on 704 lateral surface of wear ring, and the madial wall of damping hole 604a and wear ring 704 is outer The relative rotation with damping can be carried out between side wall.The quill 603a of the whole embedded rotating axis 603 of pilot sleeve 703 In, and the two does not relatively rotate.Further, magnetic force switch block part 702, which is embedded in pilot sleeve 703, forms cooperation, finally, whole The outboard end of body structure sets block 701 to fix.Hex nut may be used in block 701, and inside has spiral shell Line.
For more specific description, with reference to Figure 17, magnetic force switch block part 702 includes briquetting 702a, magnetic in the present embodiment Power swivel becket 702b, guide pad 702c and spring 702d, and briquetting 702a, magnetic rotation ring 702b and spring 702d three Between be sequentially connected.Wherein, briquetting 702a is used for the transmission of external force, is button-like, is set to magnetic rotation ring 702b's Outboard end, the two is only to connect, without fixation.The generally cylindrical structure of magnetic rotation ring 702b, and guide pad 702c is then fixed on the inner end positions of magnetic rotation ring 702b lateral walls, is flat columnar projections.
Pilot sleeve 703 includes directive slide track 703a and guide and limit protrusion 703b.Wherein, directive slide track 703a is leads The slot of penetrating hollow out on sleeve 703, the slot can divide into two sections interconnected, and outer section of slot is along pilot sleeve 703 It is longitudinally extended, the direction of the slot of inner segment then with its (acute angle) at an angle is extended, and forms space dog-ear.Directive slide track The width of 703a is corresponding with guide pad 702c so that guide pad 702c can be slided in directive slide track 703a.Therefore work as Magnetic rotation ring 702b is gradually embedded in pilot sleeve 703 so that when guide pad 702c is entered in directive slide track 703a, magnetic force turns Rotating ring 702b will be taken advantage of a situation guiding, be rotated in the dog-ear section of directive slide track 703a.This process further includes:When magnetic force switch block part 702 when being gradually embedded in pilot sleeve 703, and the spring 702d for being set to magnetic rotation ring 702b inner terminations will contradict quill The inside of 603a, so as to ensure that magnetic force switch block part 702 has the trend resetted.
In the present invention, guide and limit protrusion 703b is longitudinally disposed at its lateral wall along pilot sleeve 703.Meanwhile it covers It is provided on the madial wall of cylinder axis 603a embedding mutually with limiting slot 603b, the two in the matched pivot pins of guide and limit protrusion 703b It closes so that pilot sleeve 703 can not relatively rotate later in embedded quill 603a.
Further, with reference to Figure 18, wear ring 704 includes damping projection 704a and limit protrusion in the present embodiment The longitudinally disposed lateral wall in wear ring 704 of 704b, damping projection 704a, and limit protrusion 704b is then longitudinally disposed in resistance to The madial wall of bull ring 704.Since wear ring 704 is sheathed on quill 603a, set on the lateral wall of quill 603a Have engaged with limiting slot 603c, the two outside the matched pivot pins of limit protrusion 704b, it is impossible to relatively rotate.
By above-mentioned, vertical fixed frame 604 is sheathed on the lateral wall of wear ring 704, and in the present invention, damping hole 604a's is interior There is side wall a circle to damp compact district, for generating the damping due to rotation of cooperation with damping projection 704a.When wear ring 704 is embedded in When in damping hole 604a, it is set to the damping projection 704a of 704 outer surface of wear ring and is set to damping hole 604a inner surfaces Relative rotation between damping compact district can generate damping action.
Further, the upper end of vertical fixed frame 604 further includes magnetic force block slot 604b and magnetic force block axis hole 604c, and magnetic The both sides of power clamping block 705 are symmetrically arranged with magnetic force block axostylus axostyle 705a.Wherein, magnetic force block slot 604b be penetrating hole, magnetic force Clamping block 705 is set in magnetic force block slot 604b.The magnetic force block axostylus axostyle 705a for being fixed on 705 both sides of magnetic force clamping block is interspersed in magnetic It in power block axis hole 604c, is formed hinged so that magnetic force clamping block 705 is whole can be in magnetic force block slot 604b around magnetic force block axis Bar 705a is overturn, i.e., one end of magnetic force clamping block 705 can tilt upward or downward.
In addition the inner surface of magnetic force clamping block 705 is additionally provided with damper lock-out protrusion 705b.Single damper lock-out protrusion Damping bigger in the size ratio damping hole 604a of 705b, under normal condition, damper lock-out protrusion 705b and damping projection 704a Inconsistent cooperation, and this damping action enables to relatively rotate between wear ring 704 and vertical fixed frame 604 (i.e. lock-out state), and when 705 one end of magnetic force clamping block is upturned, damper lock-out protrusion 705b and damping projection 704a it Between be detached from, contradict active force, therefore can relatively rotate between wear ring 704 and vertical fixed frame 604 there is no mutual (i.e. unlocked state).
With reference to Figure 19, pivot pin screw thread 603d, axis are additionally provided on the quill 603a of 603 outer end of rotary shaft in the present embodiment Pin screw thread 603d is set to the outermost sides of quill 603a.Based on above-mentioned, wear ring 704 is sheathed on quill 603a, the two By coordinating locking between limiting slot 603c outside limit protrusion 704b and pivot pin, it is impossible to relatively rotate;Secondly, pilot sleeve In 703 insertion quill 603a, locked by being realized between limiting slot 603b in guide and limit protrusion 703b and pivot pin therebetween It is fixed, it can not relatively rotate.After all assemblings are completed, briquetting 702a is limited by block 701, and passes through block 701 The screw thread of inside setting is realized with pivot pin screw thread 603d cooperations.
With reference to Figure 20, positioning component 700 realizes that the process of locking and unlock is:When positioning component 700 is closed by above-mentioned cooperation System is attached, and after being symmetrical set, and magnetic force clamping block 705 is located at the top of magnetic force switch block part 702, needs herein Bright is that the equal bands of magnetic force clamping block 705 and magnetic rotation ring 702b are magnetic, and be sequentially distributed on magnetic rotation ring 702b with 705 magnetic force of magnetic force clamping block is opposite and the magnetic force of identical polar.It therefore, can be by setting polarity magnetic on magnetic rotation ring 702b The range of the range of power distribution, control locking and unlock.When under lock-out state, spring 702d is in normal condition and (is not pressed Contracting), it is out-phase magnetic pole that magnetic force clamping block 705 and magnetic rotation ring 702b is distributed up and down at this time, and the two has attraction,
Therefore damper lock-out protrusion 705b and damping projection 704a is mutually contradicted under magneticaction and is realized locking.And it unlocks State is:By the above-mentioned briquetting 702a of manual squeezing, magnetic rotation ring 702b is pushed gradually to be embedded in pilot sleeve 703, Guide pad 702c enters in directive slide track 703a so that magnetic rotation ring 702b, which is directed to, to rotate.Due to magnetic rotation ring Magnetic force opposite and identical polar with 705 magnetism of magnetic force clamping block is sequentially distributed on 702b, so as to cause magnetic rotation ring 702b gradually rotates the position for having same pole to the two.At this time under repulsion effect, magnetic force clamping block 705 occurs shaft rotation and moves One end is upturned, and damper lock-out protrusion 705b and damping projection 704a is detached from, and completes unlock.
Herein it should be noted that the symmetrically arranged purpose in 700 both ends of positioning component of the present invention is to realize unilateral nothing Method unlocks, and when need to press above-mentioned briquetting 702a simultaneously by both ends, could realize the compression to spring 702d, can unlock. Therefore screens spring 702e is also provided with, and meet the elastic force of spring 702d between briquetting 702a and magnetic rotation ring 702b More than the elastic force of screens spring 702e, when unilateral side presses, screens spring 702e can be compressed, and spring 702d is not compressed, but When both sides press simultaneously, screens spring 702e in stress, at this time after the symmetrical spring 702d forced compressions in both ends, does not realize solution Lock.
The setting of positioning component 700 so that rotary shaft 603 and the cantilever supporting frame 602 being fixed thereon can be closed Reason rotates and remains fixed in arbitrary required angular position, in this way, acquisition component 601 can be adjusted to close according to actual demand Suitable height and position to obtain ideal acquisition position and shooting environmental, has preferable flexibility.
It is important that, it should be noted that the construction and arrangement of the application shown in multiple and different exemplary implementations is only It is illustrative.Although several embodiments are only described in detail in this disclosure, the personnel of the displosure content are referred to It should be easily understood that under the premise of substantially without departing from the novel teachings and advantage of the theme described in this application, many changes Type is possible (for example, the size of various elements, scale, structure, shape and ratio and parameter value are (for example, temperature, pressure Deng), mounting arrangements, the use of material, the variation etc. of color, orientation).It can be by more for example, being shown as integrally formed element A part or element are formed, and the position of element can be squeezed or change in other ways, and the property or number of discrete component Or position can be altered or changed.Therefore, all such remodeling are intended to be comprised in the scope of the present invention.Can according to for The embodiment in generation changes or the order or sequence of resequence any process or method and step.In the claims, any " dress Put plus function " clause be intended to be covered in and described herein perform the structure of the function, and be not only structure and be equal But also it is equivalent structure.Without departing from the scope of the invention, design, operation that can be in exemplary implementation Other are made in situation and arrangement to replace, remodeling, change and omit.Therefore, the present invention is not limited to specific embodiment, and It is to extend to a variety of remodeling still fallen within the scope of the appended claims.
In addition, in order to provide the terse description of exemplary implementation, all spies of actual implementation scheme can not be described Sign (that is, with currently consider execution the present invention those incoherent features of optimal mode or in realize the present invention it is incoherent Those features).
It should be understood that in the development process of any actual implementation mode, it, can such as in any engineering or design object A large amount of specific embodiment is made to determine.Such development effort may be complicated and time-consuming, but for those benefits For the those of ordinary skill of the displosure content, do not need to excessively test, the development effort will be one design, manufacture and The routine work of production.
It should be noted that the above embodiments are merely illustrative of the technical solutions of the present invention and it is unrestricted, although with reference to preferable The present invention is described in detail in embodiment, it will be understood by those of ordinary skill in the art that, it can be to the technology of the present invention Scheme is modified or replaced equivalently, and without departing from the spirit and scope of technical solution of the present invention, should all be covered in this hair In bright right.

Claims (10)

1. a kind of exterior quality self-grading device based on computer vision technique, it is characterised in that:Including,
Feed unit (100) is set to the top of the exterior quality self-grading device based on computer vision technique, packet Feeding assembly (101) and rotating folding component (102) are included, the rotating folding component (102) is fixed on the feeding assembly (101) bottom;
Transmission unit (200) is set to the lower section of the feed unit (100), and the transmission unit (200) is including conveying assembly (201) and interval regulatory component (202), the interval regulatory component (202) are set to the side of the conveying assembly (201), And it is both set up on support unit (300);The interval regulatory component (202) includes the second actuator (202a), song Arm (202b) and wobble-member (202c), second actuator (202a) are attached with described one end for cranking arm (202b), institute It states the other end of (202b) of cranking arm and is hinged with sliding block (202d), slide opening (202d-1) is provided on the sliding block (202d);
Discharging unit (500), the setting with the pusher unit (400) correspond, and the discharging unit (500) includes discharging Track (501), there are one material collecting barrels (502) for the lower end correspondence of the discharging track (501);Discharging track (501) packet The first discharging channel (501a) is included, first discharging channel (501a) divides into the firstth area (501a-1) and the secondth area (501a-2), Secondth area (501a-2) is set to the lower end of firstth area (501a-1), and the two interconnects;Firstth area Sorting holes (501a-3) are offered on (501a-1), the lower end of the sorting holes (501a-3) is correspondingly arranged on the second discharging channel (501b);And
Recognition unit (600), including acquisition component (601) and cantilever supporting frame (602), the acquisition component (601) is by described Cantilever supporting frame (602) is fixed on the inside of the feeding assembly (101);The inner end of the cantilever supporting frame (602) is fixed with rotation Axis (603), and the vertical fixed frame for being matched with the rotary shaft (603) is provided on the medial surface of the feeding assembly (101) (604), the rotary shaft (603) is attached with the vertical fixed frame (604) by positioning component (700).
2. the exterior quality self-grading device based on computer vision technique as described in claim 1, it is characterised in that:Institute State the closeouts (101b) that feeding assembly (101) divides into feed hopper (101a) and is set to the feed hopper (101a) side;
Feeding-passage (101c) has been opened on the one side that the feed hopper (101a) connect with the closeouts (101b), it is described Feed hopper (101a) is formed with the inside of the closeouts (101b) by the feeding-passage (101c) and connected.
3. the exterior quality self-grading device based on computer vision technique as claimed in claim 2, it is characterised in that:Institute It states closeouts (101b) and includes tube body (101b-1) and plugging block (101b-2), the tube body (101b-1) and the feeding-passage (101c) is docked, and its downside has downcast hole (X);
The inside of the tube body (101b-1) is inserted into one end of the plugging block (101b-2), and the two sides of the other end are fixed with knot The mutually symmetrical with branch of structure (101b-3);The branch (101b-3) is directed toward feed hopper (101a) direction, and in its outer end Crotch (101b-4) is provided at head, the lateral surface of closeouts (101b) described in the direction face of the crotch (101b-4);
The double wedge area that a row corresponds to the crotch (101b-4) is both provided on the two sides of the closeouts (101b) (101b-5)。
4. the exterior quality self-grading device based on computer vision technique as claimed in claim 3, it is characterised in that:Institute The periphery for stating tube body (101b-1) is also arranged with solution lock ring (101b-6), and the solution lock ring (101b-6) is positioned at the branch The inside of (101b-3);
There is limit protrusion (101b-7), and the outside of the tube body (101b-1) on the medial surface of the solution lock ring (101b-6) There is the limiting groove (101b-8) for being matched with the limit protrusion (101b-7) on wall.
5. the exterior quality self-grading device based on computer vision technique as claimed in claim 4, it is characterised in that:Institute It states support unit (300) and includes the first support portion (301) and the second support portion (302), and the two overlaps;
The feed hopper (101a) is fixed on the top of first support portion (301) by the first support element (301a), described Closeouts (101b) are fixed on the top of second support portion (302) by the second support element (302a).
6. the exterior quality self-grading device based on computer vision technique as claimed in claim 5, it is characterised in that:Institute It states conveying assembly (201) and includes conveyer belt (201a), driving drum (201b) and guide pulley (201c), the driving drum (201b) is respectively arranged at the both ends of the conveyer belt (201a), the side of the conveyer belt (201a) with guide pulley (201c) Setting also has at least three pusher units (400).
7. the exterior quality self-grading device based on computer vision technique as claimed in claim 6, it is characterised in that:Institute It states and first rotating shaft (201d) is interspersed in driving drum (201b), one end of the first rotating shaft (201d) is provided with the second transmission Part (201e), and the driving drum (201b) passes through second driving member (201e) and the interval regulatory component (202) It is attached, and forms transmission;
The second shaft (201f), the first rotating shaft (201d) and the second shaft are interspersed in the guide pulley (201c) (201f) is set up in the both sides of second support portion (302).
8. the exterior quality self-grading device based on computer vision technique as claimed in claim 7, it is characterised in that:Institute It states wobble-member (202c) and includes straight-bar area (202c-1) and rotational area (202c-2), the straight-bar area (202c-1) is perpendicularly fixed at The outside of the rotational area (202c-2), and the lower end in the straight-bar area (202c-1) passes through the slide opening (202d-1);
The rotational area (202c-2) is cyclic structure, be respectively arranged on the inside of ring and on the outside of ring the first counterpart (202e) and Second counterpart (202f), second counterpart (202f) are fixed on the side of second support portion (302).
9. the exterior quality self-grading device based on computer vision technique as claimed in claim 8, it is characterised in that:Institute It states and projectile (202c-3) is hinged at the top of rotational area (202c-2) madial wall, the upper end tool of first counterpart (202e) There is the guiding notch (202e-1) corresponding to the projectile (202c-3) rocking tendency.
10. the exterior quality self-grading device based on computer vision technique as claimed in claim 9, it is characterised in that: The madial wall of second counterpart (202f) is provided with the annular groove (202f-1) for being matched with the rotational area (202c-2) size, The lower end of second counterpart (202f) is additionally provided with the guiding sealing corresponding to straight-bar area (202c-1) rocking tendency (202f-2)。
CN201810162203.9A 2018-02-26 2018-02-26 A kind of exterior quality self-grading device based on computer vision technique Withdrawn CN108160523A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201810162203.9A CN108160523A (en) 2018-02-26 2018-02-26 A kind of exterior quality self-grading device based on computer vision technique

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201810162203.9A CN108160523A (en) 2018-02-26 2018-02-26 A kind of exterior quality self-grading device based on computer vision technique

Publications (1)

Publication Number Publication Date
CN108160523A true CN108160523A (en) 2018-06-15

Family

ID=62511657

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201810162203.9A Withdrawn CN108160523A (en) 2018-02-26 2018-02-26 A kind of exterior quality self-grading device based on computer vision technique

Country Status (1)

Country Link
CN (1) CN108160523A (en)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112246645A (en) * 2020-09-30 2021-01-22 湖南洪盛源油茶科技股份有限公司 Tea-oil tree that screens according to seedling height selects seedling equipment

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103056111A (en) * 2012-12-21 2013-04-24 浙江大学 Prawns quality detecting and classifying device based on machine vision technology
CN104475362A (en) * 2014-12-08 2015-04-01 浙江大学 Real-time red date detecting and grading device based on machine vision technology
JP5801777B2 (en) * 2012-09-11 2015-10-28 株式会社クボタ Sorting device for crops
CN206229716U (en) * 2016-11-30 2017-06-09 扬州大学 A kind of apple exterior quality self-grading device based on computer vision technique

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP5801777B2 (en) * 2012-09-11 2015-10-28 株式会社クボタ Sorting device for crops
CN103056111A (en) * 2012-12-21 2013-04-24 浙江大学 Prawns quality detecting and classifying device based on machine vision technology
CN104475362A (en) * 2014-12-08 2015-04-01 浙江大学 Real-time red date detecting and grading device based on machine vision technology
CN206229716U (en) * 2016-11-30 2017-06-09 扬州大学 A kind of apple exterior quality self-grading device based on computer vision technique

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112246645A (en) * 2020-09-30 2021-01-22 湖南洪盛源油茶科技股份有限公司 Tea-oil tree that screens according to seedling height selects seedling equipment
CN112246645B (en) * 2020-09-30 2021-11-30 湖南洪盛源油茶科技股份有限公司 Tea-oil tree that screens according to seedling height selects seedling equipment

Similar Documents

Publication Publication Date Title
CN108380516A (en) A kind of apple exterior quality self-grading device
CN108405365A (en) A kind of interval driven type apple exterior quality self-grading device
CN108405354A (en) A kind of step-by-step movement self-grading device based on computer vision
CN108325874A (en) A kind of self-grading device
CN108380517A (en) A kind of Apple Automatic Grading device for distinguishing size
CN108380522A (en) A kind of self-grading device based on computer vision
CN108160523A (en) A kind of exterior quality self-grading device based on computer vision technique
CN108380523A (en) A kind of Apple Automatic Grading device at adjustable acquisition visual angle
CN101574693A (en) Small-scale movable computer vision automatic navel orange separator
CN109078869A (en) Automatic sorting device based on image recognition
CN108393274A (en) A kind of step-by-step movement self-grading device for distinguishing size
CN108325875A (en) A kind of step-by-step movement self-grading device
CN107224711A (en) A kind of ball picking robot with different ball classification features based on Internet of Things
CN108273764A (en) A kind of intelligence fruit sorter
CN108760274A (en) A kind of intelligence wearing slide fastener durability detection device
US2693217A (en) Machine for attaching pulls to slide fastener sliders
CN109825921A (en) The splitting machine and leasing method of multiple types warp thread
CN207385977U (en) A kind of cylindrical battery sorting machine
CN109332200A (en) A kind of flow-type Quality Parameters in Orange on-site test stage division
CN110419328A (en) A kind of Chinese medicine based on artificial intelligence picks picking up system
CN210893725U (en) Automatic sampling machine for online visual detection of tea frying and forming
CN209531485U (en) Automatic sorting device based on image recognition
CN207985382U (en) A kind of food security intelligent detection device
CN109985833A (en) A kind of barcode scanning device for heparin tube sorting
CN208321383U (en) A kind of e-commerce sorting platform

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
WW01 Invention patent application withdrawn after publication

Application publication date: 20180615

WW01 Invention patent application withdrawn after publication