CN108405354A - A kind of step-by-step movement self-grading device based on computer vision - Google Patents

A kind of step-by-step movement self-grading device based on computer vision Download PDF

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Publication number
CN108405354A
CN108405354A CN201810159429.3A CN201810159429A CN108405354A CN 108405354 A CN108405354 A CN 108405354A CN 201810159429 A CN201810159429 A CN 201810159429A CN 108405354 A CN108405354 A CN 108405354A
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CN
China
Prior art keywords
grading
computer vision
support
component
movement self
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Withdrawn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
CN201810159429.3A
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Chinese (zh)
Inventor
孟磊
陈丽芳
陆菁
陈飞
刘渊
晏涛
律睿慜
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Jiangnan University
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Jiangnan University
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Priority to CN201810159429.3A priority Critical patent/CN108405354A/en
Publication of CN108405354A publication Critical patent/CN108405354A/en
Withdrawn legal-status Critical Current

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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
    • 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
    • B07C5/02Measures preceding sorting, e.g. arranging articles in a stream orientating
    • 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
    • B07C5/362Separating or distributor mechanisms
    • 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
    • B07C5/38Collecting or arranging articles in groups
    • 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
    • B07C2501/00Sorting according to a characteristic or feature of the articles or material to be sorted
    • B07C2501/009Sorting of fruit

Abstract

The invention discloses a kind of step-by-step movement self-grading devices based on computer vision, including feed unit, are set to the top of the step-by-step movement self-grading device based on computer vision, including feeding assembly and rotating folding component;Transmission unit, is set to the lower section of the feed unit, and the transmission unit includes conveying assembly and interval regulatory component;The interval regulatory component includes the second actuator, cranks arm and wobble-member, second actuator are attached with the one end cranked arm, and the other end cranked arm is hinged with sliding block;And recognition unit, including acquisition component and cantilever supporting frame, the acquisition component be fixed on the inside of the feeding assembly by the cantilever supporting frame.The present invention combines the effect of transmission unit and pusher unit by computer vision technique, may be implemented to handle the automatic identification of apple exterior quality and classification, participates in production process without artificial, production efficiency is high, has higher the degree of automation horizontal.

Description

A kind of step-by-step movement self-grading device based on computer vision
Technical field
The present invention relates to fruit process technical field, especially a kind of step-by-step movement automatic classification dress based on computer vision It sets.
Background technology
Apple is during picking and transport, because the effect of external force is easy to keep its epidermis mechanically damaged or table Though skin is not damaged, injured surface has slight depression, the slightly dimmed situation of color and luster to be 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, economic benefit is seriously affected, and for the common interest of businessman and buyer, needs to different qualities Apple carry out classification processing.
In the grade scale of apple, the shape of fruit, the measurement of color and luster, the indexs such as fray, 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 individually by and many systems when many Apple Automatic Grading system does not consider the problems of fruit transmission at present 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 conveys for duration, is easy to cause situations such as sorting not in time or being classified error in this way.
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 a little simplified or be omitted to avoid our department is made in this section and the description of the application and the title of the invention Point, the purpose of abstract of description and denomination of invention it is fuzzy, and this simplification or omit and cannot be used for limiting the scope of the invention.
The problem of in view 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 step-by-step movement automatic classification dress based on computer vision It sets, can realize the automatic classification to apple exterior quality, and there is higher the degree of automation.
In order to solve the above technical problems, the present invention provides the following technical solutions:A kind of step-by-step movement based on computer vision Self-grading device comprising feed unit is set to the top of the step-by-step movement self-grading device based on computer vision Portion, including feeding assembly and rotating folding component, the rotating folding component are fixed on the bottom of the feeding assembly;Transmission is single Member is set to the lower section of the feed unit, and the transmission unit includes conveying assembly and interval regulatory component, and the interval is adjusted Control component is set to the side of the conveying assembly, and is both set up on support unit;The interval regulatory component packet It includes the second actuator, crank arm and wobble-member, second actuator are attached with the one end cranked arm, the other end cranked arm It is hinged with sliding block, slide opening is provided on the sliding block;And recognition unit, including acquisition component and cantilever supporting frame, the acquisition Component is fixed on the inside of the feeding assembly by the cantilever supporting frame.
As a kind of preferred embodiment of step-by-step movement self-grading device based on computer vision of the present invention, wherein: The feeding assembly divides into feed hopper and the closeouts for being set to the feed hopper side;The feed hopper and the closeouts Feeding-passage is opened on the one side of connection, the feed hopper is formed by the feeding-passage and the inside of the closeouts Connection.
As a kind of preferred embodiment of step-by-step movement self-grading device based on computer vision of the present invention, wherein: The closeouts include tube body and plugging block, and the tube body is docked with the feeding-passage, and its downside has downcast hole;Institute The inside of the tube body is inserted into the one end for stating plugging block, and the two sides of the other end are fixed with the mutually symmetrical with branch of structure;It is described Branch is directed toward the feed hopper direction, and crotch is provided at its external end head, closeouts described in the direction face of the crotch Lateral surface;The double wedge area that a row corresponds to the crotch is both provided on the two sides of the closeouts.
As a kind of preferred embodiment of step-by-step movement self-grading device based on computer vision of the present invention, wherein: The periphery of the tube body is also arranged with solution lock ring, and the solution lock ring is located at the inside of the branch;The medial surface of the solution lock ring It is upper that there is limit protrusion, and there is the limiting groove for being matched with the limit protrusion on the lateral wall of the tube body.
As a kind of preferred embodiment of step-by-step movement self-grading device based on computer vision of the present invention, wherein: The support unit includes the first support portion and the second support portion, and the two overlaps;The feed hopper passes through the first support Part is fixed on the top of first support portion, and the closeouts are fixed on the top of second support portion by the second support element Portion.
As a kind of preferred embodiment of step-by-step movement self-grading device based on computer vision of the present invention, wherein: The conveying assembly includes conveyer belt, driving drum and guide pulley, and the driving drum is respectively arranged at institute with guide pulley The both ends of conveyer belt are stated, the side setting of the conveyer belt also has at least three pusher units.
As a kind of preferred embodiment of step-by-step movement self-grading device based on computer vision of the present invention, wherein: First rotating shaft is interspersed in the driving drum, one end of the first rotating shaft is provided with the second driving member, and the transmission is rolled Cylinder is attached by second driving member and the interval regulatory component, and forms transmission;Intert in the guide pulley There are the second shaft, the first rotating shaft to be set up in the both sides of second support portion with the second shaft.
As a kind of preferred embodiment of step-by-step movement self-grading device based on computer vision of the present invention, wherein: The wobble-member includes straight-bar area and rotational area, and the straight-bar area is perpendicularly fixed at the outside of the rotational area, and the straight-bar The lower end in area passes through the slide opening;The rotational area is cyclic structure, and the first cooperation is respectively arranged on the outside of ring inside and ring Part and the second counterpart, second counterpart are fixed on the side of second support portion.
As a kind of preferred embodiment of step-by-step movement self-grading device based on computer vision of the present invention, wherein: Projectile is hinged at the top of the rotational area madial wall, the upper end of first counterpart has shakes corresponding to the projectile The guiding notch of amplitude of oscillation degree.
As a kind of preferred embodiment of step-by-step movement self-grading device based on computer vision of the present invention, wherein: The madial wall of second counterpart is provided with the annular groove for being matched with the rotational area size, and the lower end of second counterpart is also It is provided with the guiding sealing corresponding to straight-bar area rocking tendency.
Beneficial effects of the present invention:The present invention combines transmission unit and pusher unit by computer vision technique Effect may be implemented to handle the automatic identification of apple exterior quality and classification, and production process, production effect are participated in without artificial Rate is high, can carry out accurate classification processing to apple, have higher the degree of automation horizontal.
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, drawings in the following description are only some embodiments of the 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 described in step-by-step movement self-grading device one embodiment the present invention is based on computer vision into material list Member and transmission unit connection diagram.
Fig. 2 is described in step-by-step movement self-grading device one embodiment the present invention is based on computer vision into material list Meta structure schematic diagram.
Fig. 3 is the closeouts described in step-by-step movement self-grading device one embodiment the present invention is based on computer vision Overall structure diagram.
Fig. 4 is the closeouts described in step-by-step movement self-grading device one embodiment the present invention is based on computer vision Structural blast schematic diagram.
Fig. 5 is that the rotation described in step-by-step movement self-grading device one embodiment the present invention is based on computer vision is opened Seaming element schematic view of the mounting position.
Fig. 6 is that the rotation described in step-by-step movement self-grading device one embodiment the present invention is based on computer vision is opened Seaming element overall structure diagram.
Fig. 7 is the opening and closing part described in step-by-step movement self-grading device one embodiment the present invention is based on computer vision Structural schematic diagram.
Fig. 8 is the opening and closing part described in step-by-step movement self-grading device one embodiment the present invention is based on computer vision Rounding state and open state Structure Comparison schematic diagram.
Fig. 9 is the whole knot described in second embodiment of step-by-step movement self-grading device the present invention is based on computer vision Structure front schematic view.
Figure 10 is second described in second embodiment of step-by-step movement self-grading device the present invention is based on computer vision Drive member structure schematic diagram.
Figure 11 is the interval described in second embodiment of step-by-step movement self-grading device the present invention is based on computer vision Regulatory component structural blast schematic diagram.
Figure 12 is the interval described in second embodiment of step-by-step movement self-grading device the present invention is based on computer vision Regulatory component overall structure diagram.
Figure 13 is the entirety described in the step-by-step movement self-grading device third embodiment the present invention is based on computer vision Structural schematic diagram.
Figure 14 is the discharging described in the step-by-step movement self-grading device third embodiment the present invention is based on computer vision Track structure schematic diagram.
Specific implementation mode
In order to make the foregoing objectives, features and advantages of the present invention clearer and more comprehensible, right with reference to the accompanying drawings of the specification The specific implementation mode 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 different from other manner described here using other, 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 that 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 The same embodiment, nor the individual or selective embodiment mutually exclusive with other embodiment.
Referring to Fig.1~8, it is first embodiment of the invention, this embodiment offers a kind of steps based on computer vision Into formula self-grading device.As shown in Figure 1, the agent structure packet of the step-by-step movement self-grading device based on computer vision 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 biography for transmitting apple Send mechanism, be set to the lower section of feed unit 100, and support unit 300 is then the support system of the present invention, be used to support and Erect upper mechanism.
Specifically, feed unit 100 is set to the top of the step-by-step movement self-grading device based on computer vision, It includes feeding assembly 101 and rotating folding component 102, and rotating folding component 102 is fixed on the bottom of feeding assembly 101.Its In, feeding assembly 101 can divide into feed hopper 101a and the closeouts 101b for being set to the sides feed hopper 101a, and the two is mutual Connection.Feed hopper 101a is the immediate access that apple is launched, and it is logical that charging has been opened on the one side being connect with closeouts 101b Road 101c.Feeding-passage 101c allows the apple for putting into feed hopper 101a without hindrance can to pass through, and enters closeouts 101b It is internal.Therefore, feed hopper 101a is to be formed to be connected to by the inside of feeding-passage 101c and closeouts 101b, and feeding-passage 101c is the hole that size is more than apple, can be ensured under normal circumstances, the apple of arbitrary dimension can be by feed hopper 101a is entered in closeouts 101b.
Further, closeouts 101b is turned on and off for realizing to feeding-passage 101c, 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 the channel of external tubular shell and 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 the inner passages tube body 101b-1 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 to be matched with tube body The inside of tube body 101b-1 is inserted into the block structure of the inner passages 101b-1 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 101a direction, and press tube body 101b-1 lateral surface (under branch's 101b-3 original states carry certain prestressing force, two The spacing of the ends a branch 101b-3 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 At 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, and solution lock ring 101b-6 is 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.It is cyclic annular tie to solve lock ring 101b-6 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 There is block-like limit protrusion 101b-7 on face, 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 When mouth position, do not contacted with the branch 101b-3 of both sides.When promotion solution lock ring 101b-6 is inside along limiting groove 101b-8 When sliding, outside comes into contact with and squeezes branch 101b-3, it is made to strut, 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.Holder or platform may be used in first support portion 301 and the second support portion 302, main It is used to support the upper components such as feed unit 100 and transmission unit 200.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 individually passing through every time.Specifically, the first actuator 102a is rotation The work for opening and closing component 102 provides power, and motor may be used to realize.First driving member 102b be and the first actuator Worm and gear combination may be used in the present invention 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 fixed ring 102c-1 and external toothing 102c-2, and external toothing 102c-2 is set to The periphery of fixed ring 102c-1.Wherein, fixed 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 fixed ring 102c-1.
At least two block piece 102c-3 (in the present invention temporarily for three), blocking are connected on fixed 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 The identical structure of integral platy structure, each monomer is identical, and may be contained within the downside of fixed ring 102c-1.Further, It is hinged with fixed ring 102c-1 at the outer peripheral angle ends block piece 102c-3.
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 are from the downside of fixed ring 102c-1 " removing ", 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 open state.
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 fixed 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 It includes conveying assembly 201 and interval regulatory component 202 to send unit 200.Conveying assembly 201 is used for transmission apple, carries out subsequent Sorting, and it is spaced transmission form of the regulatory component 202 for controlling conveying assembly 201, so that it is passed in a manner of step-type It is defeated, i.e., it moves into between-line spacing, apple quality and is sorted for identification in interval time.Regulatory component 202 is spaced to be arranged 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, when preventing apple from falling Impact outer damage that it is generated).Intert in driving drum 201b and is 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 the output torque variation of the second actuator 202a is being swung left and right for wobble-member 202c.
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 end and the 202b that cranks arm be fixed.Specifically, the 202b that cranks arm uses the bending body of rod, or directly using eccentric Axis comprising 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 by the first off-axis 202b-1 and the second actuator 202a, and the 202b that cranks arm is another Second outer ends off-axis 202b-2 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, being additionally provided with penetrating slide opening 202d-1 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 settings 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 It is additionally provided with the guiding sealing 202f-2 corresponding to straight-bar area 202c-1 rocking tendencies, 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, 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 limiting 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 being limited for the rotation of unidirectional part 202g.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.It since the sliding block 202d for the outer ends 202b of cranking arm is set on straight-bar area 202c-1, and can slide on, and 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 constantly will reciprocally push unidirectional part 202g and driving shaft 201e-4 to be rotated into between-line spacing, and due to master Moving axis 201e-4 and the second driving member 201e are formed and are 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 transmits to realize the intervals in a manner of step-type conveyer belt 201a.
Referring to Fig.1 3,14, 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 the other sides of the conveyer belt 201a relative to pusher unit 400 It is provided with discharging unit 500, 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 including pusher part 401 and is set to 401 outer end of pusher part Pushing head 402, wherein pusher part 401 directly can use electric cylinders or other that 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), it can be respectively used to push the apple of different quality grade.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 the sides conveyer belt 201a.
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 for collecting pusher unit 400, therefore in the present invention 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 the 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 have the difference in size, therefore in the present invention, can be with It is arranged the size of sorting holes 501a-3 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 from 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 that there are one corresponding trash receptacles 504, for receiving Collect unqualified apple.
The present invention is realized also needs to setting recognition unit to the process that the exterior quality of apple is identified, classifies and sorts 600.Recognition unit 600 mainly use 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 Holder 602.Wherein, acquisition component 601 is the combination of camera or multiple cameras, is mainly used for shooting and acquires 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 one for handling image information and sending out The computer of action command.
The identification of heretofore described step-by-step movement self-grading device based on computer vision and sort process are:Apple It is put into from feed hopper 101a, apple is realized every time only individually to pass through by rotating folding component 102, and fall to the biography of lower section It send on band 201a.Conveyer belt 201a drives apple onwards transmission one by one, due to being spaced the effect of regulatory component 202, apple with Advance with the conveyer belt 201a step-by-step systems that can only be transmitted with interval.When apple is sent to the underface of recognition unit 600, open Dynamic acquisition component 601 claps the appearance images for taking apple, and image document is sent to control unit and carries out image recognition, to obtain The external appearance characteristic of apple, and exterior quality classification is carried out to it, form reserved instruction.When this apple continues to move ahead, it is sent to pair When answering at the pusher unit 400 of operation, start corresponding pusher part 401, this apple is pushed into corresponding discharging unit 500 In.Finally, the apple not acted on by any group of pusher unit 400 is then defective work, follows conveyer belt 201a always It is sent to end, is fallen from third discharging channel 503 and is sent to trash receptacle 504.
It is important that, it should be noted that the construction of the application shown in multiple and different exemplary implementation schemes and arrangement are only It is illustrative.Although several embodiments are only described in detail in this disclosure, refering to the personnel of the displosure content 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 constituted, 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 Set plus function " clause be intended to be covered in it is described herein execute the structure of the function, and it is equivalent to be not only structure But also it is equivalent structure.Without departing from the scope of the invention, design, operation that can be in exemplary implementation scheme Other are made in situation and arrangement to replace, remodeling, change and omit.Therefore, the present invention is not limited to specific embodiments, 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 scheme, all spies of actual implementation scheme can not be described Sign (that is, those incoherent features of optimal mode with the execution present invention currently considered, or it is of the invention incoherent in realizing 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 implementation mode 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, need not excessively test, the development effort will be one design, manufacture and The routine work of production.
It should be noted that the above examples are only used to illustrate the technical scheme of the present invention and are not limiting, although with reference to preferable Embodiment describes the invention in detail, 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 of the technical scheme of the invention and range, should all be covered in this hair In bright right.

Claims (10)

1. a kind of step-by-step movement self-grading device based on computer vision, it is characterised in that:Including,
Feed unit (100) is set to the top of the step-by-step movement self-grading device based on computer vision, including charging Component (101) and rotating folding component (102), the rotating folding component (102) are fixed on the bottom of the feeding assembly (101) Portion;
Transmission unit (200) is set to the lower section of the feed unit (100), and the transmission unit (200) includes 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 the one end of (202b) of cranking arm, the song The other end of arm (202b) is hinged with sliding block (202d), and slide opening (202d-1) is provided on the sliding block (202d);And
Recognition unit (600), including acquisition component (601) and cantilever supporting frame (602), the acquisition component (601) pass through described Cantilever supporting frame (602) is fixed on the inside of the feeding assembly (101).
2. step-by-step movement self-grading device based on computer vision as described in claim 1, it is characterised in that:The charging Component (101) divides into feed hopper (101a) and is set to the closeouts (101b) of the side the feed hopper (101a);
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 is connected to.
3. step-by-step movement self-grading device based on computer vision as claimed in claim 2, it is characterised in that:The closure Part (101b) includes tube body (101b-1) and plugging block (101b-2), the tube body (101b-1) and the feeding-passage (101c) Docking, 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 It is provided with crotch (101b-4) 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. step-by-step movement self-grading device based on computer vision as claimed in claim 3, it is characterised in that:The tube body The periphery of (101b-1) is also arranged with solution lock ring (101b-6), and the solution lock ring (101b-6) is located at the branch (101b-3) Inside;
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 step-by-step movement self-grading device based on computer vision as described in claim 2,3,4 is any, it is characterised in that: The support unit (300) 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. step-by-step movement self-grading device based on computer vision as claimed in claim 5, it is characterised in that:The conveying Component (201) includes conveyer belt (201a), driving drum (201b) and guide pulley (201c), the driving drum (201b) with Guide pulley (201c) is respectively arranged at the both ends of the conveyer belt (201a), and the side setting of the conveyer belt (201a) also has At least three pusher units (400).
7. step-by-step movement self-grading device based on computer vision as claimed in claim 6, it is characterised in that:The transmission First rotating shaft (201d) is interspersed in roller (201b), one end of the first rotating shaft (201d) is provided with the second driving member (201e), and the driving drum (201b) by second driving member (201e) and the interval regulatory component (202) into Row connection, and form 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. step-by-step movement self-grading device based on computer vision as claimed in claim 7, it is characterised in that:It is described to wave Part (202c) includes straight-bar area (202c-1) and rotational area (202c-2), and the straight-bar area (202c-1) is perpendicularly fixed at described turn The outside of dynamic 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. step-by-step movement self-grading device based on computer vision as claimed in claim 8, it is characterised in that:The rotation Projectile (202c-3) is hinged at the top of area (202c-2) madial wall, the upper end of first counterpart (202e), which has, to be corresponded to In the guiding notch (202e-1) of the projectile (202c-3) rocking tendency.
10. step-by-step movement self-grading device based on computer vision as claimed in claim 9, it is characterised in that:Described The madial wall of two counterparts (202f) is provided with the annular groove (202f-1) for being matched with the rotational area (202c-2) size, and described The lower end of two counterparts (202f) is additionally provided with the guiding sealing (202f- corresponding to straight-bar area (202c-1) rocking tendency 2)。
CN201810159429.3A 2018-02-26 2018-02-26 A kind of step-by-step movement self-grading device based on computer vision Withdrawn CN108405354A (en)

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