CN108454939A - A kind of spheral fruit posture automatic adjusting method based on computer vision and device - Google Patents
A kind of spheral fruit posture automatic adjusting method based on computer vision and device Download PDFInfo
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- CN108454939A CN108454939A CN201810553940.1A CN201810553940A CN108454939A CN 108454939 A CN108454939 A CN 108454939A CN 201810553940 A CN201810553940 A CN 201810553940A CN 108454939 A CN108454939 A CN 108454939A
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
- B65B25/00—Packaging other articles presenting special problems
- B65B25/02—Packaging agricultural or horticultural products
- B65B25/04—Packaging fruit or vegetables
- B65B25/048—Packaging fruit or vegetables in nets
-
- A—HUMAN NECESSITIES
- A23—FOODS OR FOODSTUFFS; TREATMENT THEREOF, NOT COVERED BY OTHER CLASSES
- A23N—MACHINES OR APPARATUS FOR TREATING HARVESTED FRUIT, VEGETABLES OR FLOWER BULBS IN BULK, NOT OTHERWISE PROVIDED FOR; PEELING VEGETABLES OR FRUIT IN BULK; APPARATUS FOR PREPARING ANIMAL FEEDING- STUFFS
- A23N15/00—Machines or apparatus for other treatment of fruits or vegetables for human purposes; Machines or apparatus for topping or skinning flower bulbs
- A23N15/08—Devices for topping or skinning onions or flower bulbs
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
- B65B35/00—Supplying, feeding, arranging or orientating articles to be packaged
- B65B35/56—Orientating, i.e. changing the attitude of, articles, e.g. of non-uniform cross-section
- B65B35/58—Turning articles by positively-acting means, e.g. to present labelled portions in uppermost position
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
- B65B5/00—Packaging individual articles in containers or receptacles, e.g. bags, sacks, boxes, cartons, cans, jars
- B65B5/04—Packaging single articles
- B65B5/045—Packaging single articles in bags
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
- B65B57/00—Automatic control, checking, warning, or safety devices
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- Agronomy & Crop Science (AREA)
- Chemical & Material Sciences (AREA)
- Food Science & Technology (AREA)
- Polymers & Plastics (AREA)
- Apparatuses For Bulk Treatment Of Fruits And Vegetables And Apparatuses For Preparing Feeds (AREA)
Abstract
The invention discloses spheral fruit posture automatic adjusting method based on computer vision and devices, the device is made of camera, three resigning stepper motors, singlechip controller and computer, the runner of wherein three stepper motors is in 120 degree of distributions, camera is mounted on right over three stepper motor central shafts, camera is connected with computer, singlechip controller one end computer is connected, and the other end is connected with three stepper motors；The method is, spheral fruit is imaged by camera, horizontal plane position coordinate where computer judges fruits and vegetables head by image, and it calculates separately out fruits and vegetables radius and needs the angle rotated, three stepper motor rotations are controlled by singlechip controller, so that spheral fruit central shaft upward with horizontal plane, realizes the posture adjust automatically of spheral fruit.Particular by rotation so that onion bulb or apple carpopodium direction are adjusted, for next step automation, onion cuts navel, apple automatic bag sheathing provides good posture.
Description
Technical field
The invention discloses a kind of spheral fruit posture automatic adjusting method and devices, pass through specifically, being related to one kind
Rotation by onion bulb or apple carpopodium upward right over method and apparatus, coordinate the automatic umbilicus cutting of onion to cut root and Apples
Handle covers in bag product line outwardly to be used.
Background technology
Onion commercialized treatment after adopting includes multiple links such as onion classification sorting, peeling and Qie Gen croppings, current ocean
Green onion automation needs by hand to ajust onion during cutting root cropping, to control the root and head that clamping cutter clamps both ends, leads to
Rotary cutter is crossed to cut away the root of onion and head.Channel automation adjustment onion posture, can be automatically right by the root of onion and head
Quasi- clamping cutter, substitutes manually, and can be connected with sorting unit, pneumatic apparatus for peeling off, realizes that entire onion adopts rear commodity
Change the automation of processing.The adjustment of onion posture is all ajusted by artificial by hand at present, be whole-course automation restriction point and
Key point.The automation adjustment for having relevant equipment that can realize onion posture is not found also at present.
The jacketed polyethylene foamed net cover outside apple is needed during apple postharvest packaging, is needed when automating bagging pre-
First ajust the posture of apple, when sale wish carpopodium inwardly fruit tripe outwardly or fruit tripe inwardly carpopodium outwardly to increase commodity
Appearance also relates to the adjustment to apple posture during this.Also have similar demand for other spheral fruits, as peach,
In the net covers packaging process such as muskmelon.In addition orientation sowing is also required in Some seeds planting process, as needed when planting garlic
Upward by garlic, this is related to orienting sowing problem, and there is presently no preferable automation solutions.
In view of at this stage to the demands status of spherical fruit pose adjustment, it is desirable to provide one kind being capable of adjust automatically fruits and vegetables posture
Method and apparatus, combined with other automation equipments, the automation of spheral fruit commercialized treatment after adopting may be implemented.
Invention content
The purpose of the present invention provides a kind of simple in structure, adjust automatically spherical shape fruit primarily directed to the deficiency of the above problem
The method and apparatus of vegetable posture.
Above-mentioned purpose is achieved through the following technical solutions, which is controlled by camera, three resigning stepper motors, microcontroller
Device and computer composition, wherein the runner of three stepper motors in 120 degree distribution, camera mounted on stepper motor central shaft just on
Side, camera are connected with computer, and singlechip controller one end computer is connected, and the other end is connected with three stepper motors.It is described
Method be to be imaged to spheral fruit by camera, computer judges fruits and vegetables size, fruits and vegetables head by image（Such as onion bulb
Or apple carpopodium）Place horizontal plane position coordinate, and calculate separately out fruits and vegetables and need the angle and direction rotated, pass through microcontroller
Controller controls three stepper motor rotations so that spheral fruit central shaft with horizontal plane, completes pose adjustment upward.
Wherein：（1）Fruits and vegetables size shoots the image of ball-type fruits and vegetables by camera, and the half of fruits and vegetables is found out by round fitting
Diameter isRIt determines, the position coordinates P (a, b, z) where the fruits and vegetables head, wherein being sat by image fruits and vegetables head point plane
A is marked, b is determined, z=sqrt (R*R-a*a-b*b), radius r=sqrt (a*a+b*b) of flat circle where fruits and vegetables head.
（2）The direction of rotation of three motors is：（Wherein θ is the angle of fruits and vegetables head position and x-axis）
（3）The angle of rotation is：
Fruits and vegetables head is when between 0 ° -60 °：
∠POP’=arcsin(r*sin(arctan(|b|/|a|)/R)；∠DOP’=arctan(r*cos(arctan(|b|/|a
|)/ z)
Fruits and vegetables head is when between 60 ° -120 °：
∠POP’=arcsin(r*sin(120°-arctan(|b|/|a|)/R)；∠DOP’=arctan(r*cos(120°-
arctan(|b|/|a|)/ z)
Fruits and vegetables head is when between 120 ° -180 °：
∠POP’=arcsin(r*sin(60°-arctan(|b|/|a|)/R)；∠DOP’=arctan(r*cos(60°-arctan
(|b|/|a|)/ z)
Fruits and vegetables head is when between 180 ° -240 °：
∠POP’=arcsin(r*sin(60°-arctan(|b|/|a|)/R)；∠DOP’=arctan(r*cos(60°-arctan
(|b|/|a|)/ z)
Fruits and vegetables head is when between 240 ° -300 °：
∠POP’=arcsin(r*sin(120°-arctan(|b|/|a|)/R)；∠DOP’=arctan(r*cos(120°-
arctan(|b|/|a|)/ z)
Fruits and vegetables head is when between 300 ° -360 °：
∠POP’=arcsin(r*sin(arctan(|b|/|a|)/R)；∠DOP’=arctan(r*cos(arctan(|b|/|a
|)/ z)
Fruits and vegetables head needs the angle rotated to be just at 0 °, 60 °, 120 °, 180 °, 240 °, 300 °：
∠POO’=arcvos(sqrt(R*R-a*a-b*b) /R)。
The present invention effect be：Using the rotation of three stepper motors, the pose adjustment of spheral fruit is realized；Especially
, for onion, which can be used cooperatively with pneumatic peeler, realize automatic cutting root cropping and pneumatic peeling integration；
It is particularly directed to apple, which may be implemented the direction of apple carpopodium and calyx, coordinate with automatic net cover packing machine, realize beautiful
The bagging of sight, improves production efficiency, has wide economic market value using ball-type fruits and vegetables foreign trade enterprise.
Description of the drawings
Fig. 1 is apparatus of the present invention schematic top plan view.
Fig. 2 is the method for the present invention schematic diagram.
Fig. 3 is that image is fitted schematic diagram.
Wherein：1, stepper motor, 2, spheral fruit, 3, camera, 4, singlechip controller, 5, computer.
Specific implementation mode
It is described below in conjunction with attached drawing, the specific implementation mode of the present apparatus and method is illustrated using onion as power.
Embodiment 1, according to Fig. 1, Fig. 2.
Three reference axis, X, Y-axis angle are 120 °（It is not 90 °）, Z axis is perpendicular to X, and Y plane, the positive direction of X is along 1#
Motor, Y-axis positive direction is along 3# motors, such as vertical view Fig. 1：Three motor positions are as above, and region division is as follows：Onion bulb exists
When between 0 ° -60 °, 120 ° -180 °, 180 ° -240 °, 300 ° -360 °, onion bulb is projected in XZ planes；Onion bulb exists
When between 60 ° -120 ° and 240 ° -300 °, due to the case where there are 90 ° of degree and 270 °, onion bulb can only project in YZ planes.
° of -60 ° the case where：（It is projected in XZ planes）
Onion bulb is in P points, it is assumed that P point coordinates is P (a, b, c), and the vertical line of XZ is done in the direction for being parallel to X/Y plane through P points, is hung down
Foot is M, and the faces O ' MP must be parallel to X/Y plane, and M points must do OM extended lines and meet at P ' points with spherical surface, P ' points must in XZ planes
In XZ planes, that is, if P points are gone to positive Z-direction, need two steps, the first step that P is gone to P ' points, rotational angle
For ∠ POP '；P ' is gone to D points, rotational angle ∠ DOP ' by second step.
Δ OQN is right angled triangle, QN=| b |, ON=| a |；
∠PO'M = ∠QON = arctan(|b|/|a|) ；|O'P| = sqrt(R*R-c*c)；
Δ O'MP is right angled triangle, | MP |=| O'P | * sin ∠ PO'M；|O'M| = |O'P| * cos∠PO'M
Δ MPO is right angled triangle, ∠ POP'=∠ POM=arcsin（|MP| /|PO|）= arcsin((|O'P| *
sin∠PO'M)/R)
= arcsin((|O'P| * sin(arctan(|b|/|a|)))/R)= arcsin((sqrt(R*R-c*c) * sin
(arctan(|b|/|a|)))/R)；
∠DOP' = ∠O'OM = arctan(|O'M|/|O'O|) = arctan((sqrt(R*R-c*c) * cos
(arctan(|b|/|a|)))/c)。
The first step rotates forward ∠ POP' according to 0 ° -60 °, No. 1 and No. 3 motors of table, and No. 2 reversion ∠ POP' just turn P points
To P' points.
Second step, according to 0 ° of table, No. 1 motor rotates forward ∠ DOP', and P ' is gone to D points by No. 2 and No. 3 reversion ∠ DOP', complete
At pose adjustment.
According to Fig.3,：Image is shot by camera, computer fits radius and the ocean of onion by image procossing
The coordinate position of onion, it is assumed that the radius r of the onion of fitting is 52mm, and A, B, C, D, M, N represent onion bulb and project tox-yPlane
6 kinds of situation coordinate positions of point.
（3,4）0o-60oBetween, POP '=33.7 ∠o, number of motor steps is 570 steps, and control instruction is 02 3A；∠DOP’=
43.75o, number of motor steps is 740 steps, and control instruction is 02 E4；
B（- 3,4）120o-180oBetween, POP '=6.6 ∠o, number of motor steps is 75 steps, and control instruction is 00 4B；∠DOP’=
74o, number of motor steps is 842 steps, and control instruction is 03 4A；
C（- 3, -4）180o-240oBetween, POP '=6.6 ∠o, number of motor steps is 75 steps, and control instruction is 00 4B；∠DOP’=
74o, number of motor steps is 842 steps, and control instruction is 03 4A；
D（3, -4）300o-360oBetween, POP '=33.7 ∠o, number of motor steps is 570 steps, and control instruction is 02 3A；∠DOP’
=43.75o, number of motor steps is 740 steps, and control instruction is 02 E4；
M（1,3）60o-120oBetween, POP '=65.9 ∠o, number of motor steps is 750 steps, and control instruction is 02 EE；∠DOP’=
67.1o, number of motor steps is 764 steps, and control instruction is 02 FC；
N（1, -3）240o-300oBetween, POP '=65.9 ∠o, number of motor steps is 750 steps, and control instruction is 02 EE；∠DOP’
=67.1o, number of motor steps is 764 steps, and control instruction is 02 FC.
Meanwhile various embodiments of the present invention can be combined randomly, as long as it is without prejudice to originally
The thought of invention equally should be regarded as content disclosed in this invention.In addition, during present invention is not limited to the embodiments described above
Detail can carry out a variety of simple variants to technical scheme of the present invention within the scope of the technical concept of the present invention, these
Simple variant all belongs to the scope of protection of the present invention.Protection scope of the present invention is defined by the claims.
Claims (3)
1. a kind of spheral fruit posture automatic adjusting method based on computer vision and device, including device and method two
Point, the device is made of camera, three resigning stepper motors, singlechip controller and computer, wherein three stepping electricity
The runner of machine is mounted in 120 degree of distributions, camera right over stepper motor central shaft, and camera is connected with computer, microcontroller control
Device one end processed computer is connected, and the other end is connected with three stepper motors；The method is, by camera to spheral fruit at
Picture, computer judge fruits and vegetables size, fruits and vegetables head by image（Such as onion bulb or apple carpopodium）Place horizontal plane position coordinate,
And calculate separately out fruits and vegetables and need the angle and direction rotated, three stepper motor rotations are controlled by singlechip controller, are made
Spheral fruit central shaft is obtained upward with horizontal plane, is completed pose adjustment, is specifically directed to onion, fruits and vegetables head is defined as ocean
Green onion root or onion bulb, for apple, fruits and vegetables head is defined as apple carpopodium or apple calyx.
2. a kind of spheral fruit posture automatic adjusting method based on computer vision according to claim 1 and device,
It is characterized in that：The fruits and vegetables size is the image for shooting spheral fruit by camera, passes through image processing method two-value
Change, fitting finds out the radius of the circle of spheral fruitR, the position three-dimensional coordinate P (a, b, z) where fruits and vegetables head is found out, wherein scheming
Point plane coordinates as where fruits and vegetables head by（a, b）It determines, height z=sqrt (R*R-a*a-b*b), plane where fruits and vegetables head
Round radius r=sqrt (a*a+b*b), described three motors be distributed as X-axis horizontal direction be 1# motors, 120 degree clockwise
Direction is 2# motors, and 240 degree of directions are 3# motors.
3. a kind of spheral fruit posture automatic adjusting method based on computer vision according to claim 1 and device,
It is characterized in that：The direction of rotation of three motors and angle are：
Fruits and vegetables head is when between 0 ° -60 °：The first step, No. 1 motor rotate forward ∠ POP', and No. 2 motor reversal ∠ POP', No. 3 motors are just
Turn ∠ POP'；Second step, No. 1 motor rotate forward ∠ DOP', No. 2 motor reversal ∠ DOP', No. 3 motor reversal ∠ DOP'；Wherein：
∠POP’=arcsin(r*sin(arctan(|b|/|a|)/R)；∠DOP’=arctan(r*cos(arctan(|b|/|a
|)/ z)
Fruits and vegetables head is when between 60 ° -120 °：The first step, No. 1 motor rotate forward ∠ POP', No. 2 motor reversal ∠ POP', No. 3 motors
Rotate forward ∠ POP'；Second step, No. 1 motor reversal ∠ DOP', No. 2 motor reversal ∠ DOP', No. 3 motors rotating forward ∠ DOP'；Wherein：
∠POP’=arcsin(r*sin(120°-arctan(|b|/|a|)/R)；∠DOP’=arctan(r*cos(120°-
arctan(|b|/|a|)/ z)
Fruits and vegetables head is when between 120 ° -180 °：The first step, No. 1 motor reversal ∠ POP', No. 2 motors rotate forward ∠ POP', No. 3 electricity
Machine rotates forward ∠ POP'；Second step, No. 1 motor reversal ∠ DOP', No. 2 motor reversal ∠ DOP', No. 3 motors rotating forward ∠ DOP'；Its
In：
∠POP’=arcsin(r*sin(60°-arctan(|b|/|a|)/R)；∠DOP’=arctan(r*cos(60°-arctan
(|b|/|a|)/ z)
Fruits and vegetables head is when between 180 ° -240 °：The first step, No. 1 motor reversal ∠ POP', No. 2 motors rotate forward ∠ POP', No. 3 electricity
Machine rotates forward ∠ POP'；Second step, No. 1 motor reversal ∠ DOP', No. 2 motors rotate forward ∠ DOP', No. 3 motor reversal ∠ DOP'；Its
In：
∠POP’=arcsin(r*sin(60°-arctan(|b|/|a|)/R)；∠DOP’=arctan(r*cos(60°-arctan
(|b|/|a|)/ z)
Fruits and vegetables head is when between 240 ° -300 °：The first step, No. 1 motor rotate forward ∠ POP', and No. 2 motors rotate forward ∠ POP', No. 3 electricity
Machine inverts ∠ POP'；Second step, No. 1 motor reversal ∠ DOP', No. 2 motors rotate forward ∠ DOP', No. 3 motor reversal ∠ DOP'；Its
In：
∠POP’=arcsin(r*sin(120°-arctan(|b|/|a|)/R)；∠DOP’=arctan(r*cos(120°-
arctan(|b|/|a|)/ z)
Fruits and vegetables head is when between 300 ° -360 °:The first step, No. 1 motor rotate forward ∠ POP', and No. 2 motors rotate forward ∠ POP', No. 3 electricity
Machine inverts ∠ POP'；Second step, No. 1 motor rotate forward ∠ DOP', No. 2 motor reversal ∠ DOP', No. 3 motor reversal ∠ DOP'；Its
In：
∠POP’=arcsin(r*sin(arctan(|b|/|a|)/R)；∠DOP’=arctan(r*cos(arctan(|b|/|a
|)/ z)
Fruits and vegetables head No. 1 motor at 0 ° rotates forward ∠ POO', No. 2 motor reversal ∠ POO', No. 3 motor reversal ∠ POO'；Fruits and vegetables head
At 60 °, No. 1 motor rotates forward ∠ POO', No. 2 motor reversal ∠ POO', and No. 3 motors rotate forward ∠ POO'；Fruits and vegetables head is at 120 ° 1
Number motor reversal ∠ POO', No. 2 motor reversal ∠ POO', No. 3 motors rotate forward ∠ POO'；Fruits and vegetables head No. 1 motor at 180 ° is anti-
Turn ∠ POO', No. 2 motors rotate forward ∠ POO', and No. 3 motors rotate forward ∠ POO'；Fruits and vegetables head No. 1 motor reversal ∠ POO' at 240 °,
No. 2 motors rotate forward ∠ POO', No. 3 motor reversal ∠ POO'；No. 1 motor rotates forward ∠ POO' at 300 °, and No. 2 motors rotate forward ∠
POO', No. 3 motor reversal ∠ POO'；Wherein：The angle rotated is needed to be：
∠POO’=arcvos(sqrt(R*R-a*a-b*b) /R)。
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|---|---|---|---|
| CN201810553940.1A CN108454939A (en) | 2018-06-01 | 2018-06-01 | A kind of spheral fruit posture automatic adjusting method based on computer vision and device |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109601130A (en) * | 2019-01-30 | 2019-04-12 | 袁彩霞 | One kind plucking fruit seeder |
| CN113534736A (en) * | 2021-09-15 | 2021-10-22 | 济宁市中蒜网络科技有限公司 | Automatic feeding control system and control method for onion production line |
| CN113767757A (en) * | 2021-10-27 | 2021-12-10 | 山东农业大学 | Picking robot end effector with adjustable fruit postures and harvesting method |
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| CN113534736A (en) * | 2021-09-15 | 2021-10-22 | 济宁市中蒜网络科技有限公司 | Automatic feeding control system and control method for onion production line |
| CN113767757A (en) * | 2021-10-27 | 2021-12-10 | 山东农业大学 | Picking robot end effector with adjustable fruit postures and harvesting method |
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