CN108188039A - A kind of fruit Automated Sorting System and method - Google Patents
A kind of fruit Automated Sorting System and method Download PDFInfo
- Publication number
- CN108188039A CN108188039A CN201810034304.8A CN201810034304A CN108188039A CN 108188039 A CN108188039 A CN 108188039A CN 201810034304 A CN201810034304 A CN 201810034304A CN 108188039 A CN108188039 A CN 108188039A
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- Prior art keywords
- sorting
- fruit
- image
- conveying device
- computer
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- 235000013399 edible fruits Nutrition 0.000 title claims abstract description 62
- 238000000034 method Methods 0.000 title claims abstract description 17
- 239000000463 material Substances 0.000 claims abstract description 13
- 230000005540 biological transmission Effects 0.000 claims abstract description 4
- 238000006243 chemical reaction Methods 0.000 claims description 3
- 230000003760 hair shine Effects 0.000 claims 1
- 238000004806 packaging method and process Methods 0.000 abstract description 7
- 238000004519 manufacturing process Methods 0.000 abstract description 4
- 230000006698 induction Effects 0.000 description 2
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 239000011159 matrix material Substances 0.000 description 1
- 210000003739 neck Anatomy 0.000 description 1
- 230000011218 segmentation Effects 0.000 description 1
- 230000007704 transition Effects 0.000 description 1
- 238000005303 weighing Methods 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
- B07C5/04—Sorting according to size
- B07C5/10—Sorting according to size measured by light-responsive means
Abstract
The present invention discloses a kind of fruit Automated Sorting System, including computer, conveying device, sorting equipment and image collecting device, the computer is electrically connected conveying device transmission control signal, the conveying device includes material and is loaded into region, sorting area and multiple package position region, the sorting area side is provided with sorting equipment, the sorting equipment is electrically connected computer and receives signal control, sorting area side position place opposite with the sorting equipment is provided with image collecting device, described image harvester is electrically connected computer and uploads image data.Through the above way, the present invention provides a kind of fruit Automated Sorting System and method, the consistent fruit of certain size can be picked out automatically, have the characteristics that precision is high, error is low, speed is fast, high degree of automation, so as to fulfill the automated production of fruit packaging processing.
Description
Technical field
The present invention relates to a kind of fruit Automated Sorting System and methods.
Background technology
The demand to fruit size identical property is had when customer selects fruit, so it is necessary to sort out for fruit supplier
Fruit of the same size.Furthermore it is at present to rely on mainly by human eye or by weighing manually for the classification of fruit size
The weight induction of fruit is classified.If manpower, drawback is that labor intensity is big, and automation is low, and efficiency is low, and error is big.It leans on
Then precision is low for the mechanical equipment of weight induction, because even the weight of fruit is the same, but may not be able to illustrate their size
Equally.
Invention content
The invention mainly solves the technical problem of providing a kind of fruit Automated Sorting System and methods, can pick out automatically
The consistent fruit of certain size has the characteristics that precision is high, error is low, speed is fast, high degree of automation, so as to fulfill water
The automated production of fruit packaging processing.
In order to solve the above technical problems, one aspect of the present invention is：A kind of fruit automatic sorting system is provided
System and method, including computer, conveying device, sorting equipment and image collecting device, the computer is electrically connected conveying
Device transmission control signal, the conveying device include material and are loaded into region, sorting area and multiple package position region, described point
Sorting zone domain side is provided with sorting equipment, and the sorting equipment is electrically connected computer and receives signal control, the sorting area
Side position place opposite with the sorting equipment is provided with image collecting device, and described image harvester is electrically connected computer
Image data is uploaded, the sorting equipment also includes NonConforming Parts Area, and the NonConforming Parts Area is arranged in the sorting equipment
In the range of the radius of clean-up.
In a preferred embodiment of the present invention, the conveying device is conveyer belt, and the leading portion of the conveyer belt is material
Region is loaded into, stage casing is sorting area, and back segment is multiple package position region.
In a preferred embodiment of the present invention, the sorting equipment be mechanical arm, the mechanical arm head be provided with
The collet that material to be sorted matches.
In a preferred embodiment of the present invention, described image harvester be industrial camera, the industrial camera
Towards mechanical arm arrangements, sorting area is completely covered in the image-capture field of the industrial camera.
A kind of fruit Automated Sorting System control method, includes the following steps:
Step 1：Fruit to be sorted is positioned over material in conveying device and is loaded into region；
Step 2：Industrial camera acquires the dynamic image of sorting area in conveying device in real time and incoming computer carries out
Image identifies, calculates fruit size in image, by setting sorting requirement output judgement result；
Step 3：Computer obtains judgement as a result, exporting control signal to sorting equipment, and crawl does not meet step 2 sorting
It is required that fruit to NonConforming Parts Area；
Step 4：Meet step 2 sorting requirement fruit retain on a conveyor, be transported to multiple package position region into
Row packaging processing.
In a preferred embodiment of the present invention, the step 1, placement condition must be separated from each other for fruit and not be stacked
Together.
In a preferred embodiment of the present invention, the step 2, computer obtain image data and do gradation conversion processing,
It finds four coordinate points and calculates RT rotation offset matrixes, setting calibration for cameras coordinate, mechanical arm position coordinate and calibration face are big
Small parameter calculates the calibration face size data of fruit.
The beneficial effects of the invention are as follows：A kind of fruit Automated Sorting System provided by the invention and method, can select automatically
Go out the consistent fruit of certain size, have the characteristics that precision is high, error is low, speed is fast, high degree of automation, so as to fulfill
The automated production of fruit packaging processing.
Description of the drawings
To describe the technical solutions in the embodiments of the present invention more clearly, make required in being described below to embodiment
Attached drawing is briefly described, it should be apparent that, the accompanying drawings in the following description is only some embodiments of the present invention, for
For those of ordinary skill in the art, without creative efforts, it can also be obtained according to these attached drawings other
Attached drawing, wherein：
Fig. 1 is the structure chart of a preferred embodiment of a kind of fruit Automated Sorting System of the present invention and method；
Fig. 2 is the flow chart of a preferred embodiment of a kind of fruit Automated Sorting System of the present invention and method.
Specific embodiment
The technical solution in the embodiment of the present invention will be clearly and completely described below, it is clear that described implementation
Example is only the part of the embodiment of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, this field is common
All other embodiment that technical staff is obtained without making creative work belongs to the model that the present invention protects
It encloses.
As shown in Figs. 1-2, the embodiment of the present invention includes：
A kind of fruit Automated Sorting System and method, including computer, conveying device, sorting equipment and image collector
It puts, the computer is electrically connected conveying device transmission control signal, and the conveying device includes material and is loaded into region, off-sorting station
Domain and multiple package position region, the sorting area side are provided with sorting equipment, and the sorting equipment is electrically connected computer
Receive signal control, sorting area side position place opposite with the sorting equipment is provided with image collecting device, described
Image collecting device is electrically connected computer and uploads image data, and the sorting equipment also includes NonConforming Parts Area, it is described not
Certified products area is arranged in the range of the sorting equipment radius of clean-up.
Wherein, the conveying device is conveyer belt, and the leading portion of the conveyer belt is loaded into region for material, and stage casing is off-sorting station
Domain, back segment are multiple package position region.
Further, the sorting equipment is mechanical arm, and the mechanical arm head is provided with to match with material to be sorted
Collet.
Further, described image harvester is industrial camera, and the industrial camera is towards mechanical arm arrangements, institute
Sorting area is completely covered in the image-capture field for stating industrial camera.
A kind of fruit Automated Sorting System control method, includes the following steps:
Step 1：Fruit to be sorted is positioned over material in conveying device and is loaded into region；
Step 2：Industrial camera acquires the dynamic image of sorting area in conveying device in real time and incoming computer carries out
Image identifies, calculates fruit size in image, by setting sorting requirement output judgement result；
Step 3：Computer obtains judgement as a result, exporting control signal to sorting equipment, and crawl does not meet step 2 sorting
It is required that fruit to NonConforming Parts Area；
Step 4：Meet step 2 sorting requirement fruit retain on a conveyor, be transported to multiple package position region into
Row packaging processing.
Further, the step 1, placement condition must be separated from each other for fruit and be stacked together.
Further, the step 2, computer obtain image data and do gradation conversion processing, find four coordinate points meters
RT rotation offset matrixes are calculated, setting calibration for cameras coordinate, mechanical arm position coordinate and calibration face size parameter calculate fruit
Calibration face size data.
Specifically, sorting flow is：
1. fruit uniformly keeps flat and is transported to multiple package position on a moving belt.It is separated from each other to notice that fruit needs, it is impossible to overlay
Together.
2. taking pictures on conveyer belt there are one industrial camera by setpoint frequency, multiple water in photo cover are obtained
Fruit.
3. the photo of shooting is passed to computer and carries out image identification.
4. by the calculating to image area, the size cases of fruit area in image can be identified.
5. mechanical arm captures the undesirable set of fruit of area in image and is positioned in NonConforming Parts Area.
6. last ensure that the fruit for flowing into multiple package position is in the same size.
Further, as shown in Fig. 2, the specific method of sorting fruit is：
1. the photo that camera obtains is passed to computer；
2. in order to calculate identification, each coloured image photo is converted into gray level image by computer；
3. calculate the posture position of camera by four characteristic points；
4. the calibration of camera coordinates calculates RT rotation offset matrixes；
5. mechanical arm position point is set；
6. RT matrixes are set；
7. the length in the calibration face of setting, wide, cell size；
8. obtain the length in setting calibration face, wide, cell size；
9. obtain image point coordinates；
10. obtain transition matrix RT values；
11. image coordinate point switchs to mechanical arm coordinate, that is, the coordinate position captured；
12. the area of fruit is extracted according to color boundaries segmentation；
13. the size according to area is selected, conveyer belt is stayed in if area coinciding requires and is sent in next step packaging
Otherwise station is taken away by mechanical arm.
In conclusion the present invention provides a kind of fruit Automated Sorting System and method, certain area can be picked out automatically
Fruit of the same size has the characteristics that precision is high, error is low, speed is fast, high degree of automation, so as to fulfill fruit packaging plus
The automated production of work.
The foregoing is merely the embodiment of the present invention, are not intended to limit the scope of the invention, every to utilize this hair
The equivalent structure or equivalent flow shift that bright description is made directly or indirectly is used in other relevant technology necks
Domain is included within the scope of the present invention.
Claims (7)
1. a kind of fruit Automated Sorting System, which is characterized in that adopted including computer, conveying device, sorting equipment and image
Acquisition means, the computer electric connection conveying device transmission control signal, the conveying device include material and are loaded into region, divide
Sorting zone domain and multiple package position region, the sorting area side are provided with sorting equipment, and the sorting equipment is electrically connected meter
Calculation machine receives signal control, and sorting area side position place opposite with the sorting equipment is provided with image collecting device,
Described image harvester is electrically connected computer and uploads image data, and the sorting equipment also includes NonConforming Parts Area, institute
NonConforming Parts Area is stated to be arranged in the range of the sorting equipment radius of clean-up.
2. fruit Automated Sorting System according to claim 1, which is characterized in that the conveying device be conveyer belt, institute
The leading portion for stating conveyer belt is loaded into region for material, and stage casing is sorting area, and back segment is multiple package position region.
3. fruit Automated Sorting System according to claim 1, which is characterized in that the sorting equipment be mechanical arm, institute
It states mechanical arm head and is provided with the collet to match with material to be sorted.
4. fruit Automated Sorting System according to claim 1, which is characterized in that described image harvester shines for industry
Off-sorting station is completely covered towards mechanical arm arrangements, the image-capture field of the industrial camera in camera, the industrial camera
Domain.
5. a kind of fruit Automated Sorting System control method, which is characterized in that include the following steps:
Step 1：Fruit to be sorted is positioned over material in conveying device and is loaded into region；
Step 2：Industrial camera acquires the dynamic image of sorting area in conveying device in real time and incoming computer carries out image
Identification calculates fruit size in image, by setting sorting requirement output judgement result；
Step 3：Computer obtains judgement as a result, exporting control signal to sorting equipment, and crawl does not meet step 2 sorting requirement
Fruit to NonConforming Parts Area；
Step 4：The fruit for meeting step 2 sorting requirement retains on a conveyor, is transported to multiple package position region and is wrapped
Dress processing.
6. fruit Automated Sorting System control method according to claim 5, which is characterized in that in the step 1, put
The condition of putting must be separated from each other for fruit and be stacked together.
7. fruit Automated Sorting System control method according to claim 5, which is characterized in that in the step 2, meter
Calculation machine obtains image data and does gradation conversion processing, finds four coordinate points and calculates RT rotation offset matrixes, sets calibration for cameras
Coordinate, mechanical arm position coordinate and calibration face size parameter calculate the calibration face size data of fruit.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810034304.8A CN108188039A (en) | 2018-01-15 | 2018-01-15 | A kind of fruit Automated Sorting System and method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810034304.8A CN108188039A (en) | 2018-01-15 | 2018-01-15 | A kind of fruit Automated Sorting System and method |
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| Publication Number | Publication Date |
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| CN108188039A true CN108188039A (en) | 2018-06-22 |
Family
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| Application Number | Title | Priority Date | Filing Date |
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| CN201810034304.8A Pending CN108188039A (en) | 2018-01-15 | 2018-01-15 | A kind of fruit Automated Sorting System and method |
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Cited By (3)
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| CN109615635A (en) * | 2018-12-06 | 2019-04-12 | 厦门理工学院 | The method and device of quality sorting is carried out to strawberry based on image recognition |
| CN110170459A (en) * | 2019-01-28 | 2019-08-27 | 苏州德迈科电气有限公司 | The robot method for sorting of view-based access control model detection |
| CN113313708A (en) * | 2021-06-30 | 2021-08-27 | 安徽工程大学 | Fruit detection method and system based on deep neural network |
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| CN113313708A (en) * | 2021-06-30 | 2021-08-27 | 安徽工程大学 | Fruit detection method and system based on deep neural network |
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