CN109035244B - Automatic cocoon picking system, automatic cocoon picking machine and cocoon picking method - Google Patents
Automatic cocoon picking system, automatic cocoon picking machine and cocoon picking method Download PDFInfo
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Abstract
The invention provides an automatic cocoon picking system, an automatic cocoon picking machine and a cocoon picking method, wherein the automatic cocoon picking machine comprises a conveying centering module, a conveying module and a cocoon picking module, wherein the conveying centering module is used for conveying a cocooning frame after detecting the cocooning frame; the vision recognition module is connected with the transmission centering module, collects the paper cocooning frame image transmitted by the transmission centering module and recognizes the silkworm cocoons and the paper cocooning frame; the conveying and clamping module is connected with the visual recognition module and is used for conveying, detecting and clamping the paper cocooning frames; a cocoon picking manipulator arranged on the conveying clamping module to pick silkworm cocoons from the paper cocooning frame; and the control module is respectively in communication connection with and controls the transmission centering module, the visual identification module, the transmission clamping module and the cocoon picking manipulator. By adopting the technical scheme, the cocoons are automatically picked in the cocooning frame, and the cocoon picking efficiency and the cocoon picking quality of a mulberry grower based on the cocooning frame silkworm breeding are improved.
Description
Technical Field
The invention relates to the technical field of agriculture, in particular to an automatic cocoon picking system, an automatic cocoon picking machine and a cocoon picking method.
Background
Since ancient times, the breeding of mulberry silkworms is an extremely important part of agricultural production in China, and is an economic source for many agricultural households. At the beginning of the 80 s, China begins to popularize the checker cocooning frames for silkworm breeding, the checker cocooning frames are novel cocooning frames, the cocoon feeding rate of the silkworms can be improved, the checker cocooning frames become the first choice for silkworm breeding nowadays, the annual output scale reaches more than 2000 tens of thousands of silkworms, and the scale of the bred silkworms is gradually growing along with the wide use of the checker cocooning frames. Cocoon picking is an extremely key and important ring in silkworm industry production, and directly influences the overall quality and value of silkworm cocoons, thereby influencing the income of silkworm farmers and the development of the silkworm industry.
Although the silkworm industry has a long history and development in China, the industry mode is still more traditional and belongs to labor intensive type, manual cocoon picking and cocoon separation are generally adopted at present, the cocoon picking time of every hundred jin of cocoons is as long as seven hours or eight hours, the labor intensity is high, the cost is high, the efficiency is low, and the market demand cannot be met for a long time. At present, although some devices with the automatic cocoon picking function appear continuously, manual assistance is still needed, and most devices do not have the cocoon separating function.
Therefore, how to improve the picking efficiency and quality of silkworm cocoons and further increase the economic income of mulberry farmers becomes an urgent problem to be solved.
Disclosure of Invention
In view of the above disadvantages of the prior art, the present invention provides an automatic cocoon picking system, an automatic cocoon picking machine and a cocoon picking method, which are used for solving the problem of low efficiency of manual cocoon picking and cocoon separation in the prior art.
To achieve the above and other related objects, the present invention provides an automatic cocoon picking system, comprising: the transmission centering module transmits the paper cocooning frames after detecting the paper cocooning frames; the vision recognition module is connected with the transmission centering module, collects the paper cocooning frame image transmitted by the transmission centering module and recognizes silkworm cocoons and the paper cocooning frame; the conveying and clamping module is connected with the visual recognition module and is used for conveying, detecting and clamping the paper cocooning frames; a cocoon picking manipulator arranged on the conveying clamping module to pick silkworm cocoons from the paper cocooning frame; and the control module is respectively in communication connection with and controls the transmission centering module, the visual identification module, the transmission clamping module and the cocoon picking manipulator.
Preferably, the conveying and centering module comprises a first synchronous belt pulley, a first alternating current speed reducing motor and a centering guide module, and the first synchronous belt pulley is connected with the first alternating current speed reducing motor; the first synchronous belt pulley is coaxially connected with a first roller, and a wide conveying belt is wound on the first roller; and a first laser correlation photoelectric switch is arranged on the centering guide module.
Preferably, the transfer gripping module comprises a transfer device and a centering gripping device; the conveying device comprises a second synchronous belt wheel, a third synchronous belt wheel and a second alternating current speed reducing motor, and the second alternating current speed reducing motor drives the second roller to rotate through the second synchronous belt wheel and the third synchronous belt wheel; narrow conveying belts are uniformly distributed on the second roller; the centering and clamping device comprises a third alternating current speed reducing motor, a first bidirectional screw rod, a second bidirectional screw rod and a second laser correlation photoelectric switch, and the third alternating current speed reducing motor is respectively connected with and drives the first bidirectional screw rod and the second bidirectional screw rod to rotate; a front clamping plate and a rear clamping plate are arranged between the first bidirectional screw rod and the second bidirectional screw rod, a first limit switch is arranged on the front clamping plate, a second limit switch is arranged on the rear clamping plate, and a third limit switch is arranged on a rack of the conveying clamping module.
Preferably, the cocoon picking manipulator comprises a multi-station pneumatic cocoon picking device, the multi-station pneumatic cocoon picking device comprises a single-action cylinder, and a silk cutting tool is arranged at the end part of a piston rod of the single-action cylinder.
The invention also provides an automatic cocoon-picking machine, comprising: the transmission centering module transmits the detected paper cocooning frames after detecting the paper cocooning frames and comprises a first alternating current speed reducing motor, a wide transmission belt and a first laser correlation photoelectric switch; the vision recognition module is connected with the transmission centering module, collects the paper cocooning frame image transmitted by the transmission centering module and recognizes silkworm cocoons and the paper cocooning frame; the conveying clamping module is connected with the visual recognition module, conveys, detects and clamps the square clusters and comprises a second laser correlation electric switch, a second alternating current speed reducing motor, a narrow conveying belt, a third alternating current speed reducing motor, a front clamping plate and a rear clamping plate; the cocoon picking manipulator is arranged on the conveying clamping module to pick silkworm cocoons from the paper cocooning frame and comprises a multi-station pneumatic cocoon picking device, the multi-station pneumatic cocoon picking device comprises a single-action cylinder, and a silk cutting tool is arranged at the end part of a piston rod of the single-action cylinder; and the control module is respectively in communication connection with and controls the transmission centering module, the visual identification module, the transmission clamping module and the cocoon picking manipulator.
The invention also provides a cocoon picking method, which comprises the following steps of S10 and cocoon picking preparation, wherein: the conveying and centering module detects and conveys the paper cocooning frames; the visual identification module collects the square lattice image and identifies silkworm cocoons and square lattice frames; the conveying and clamping module conveys, detects and clamps the paper cocooning frames; s20, controlling a cocoon picking manipulator to pick cocoons from the cocooning frame; s30, repeating S10.
Preferably, the cocoon picking method further comprises the step of S40, identifying blood cocoons, and controlling a cocoon picking manipulator not to pick the blood cocoons, wherein a single-acting cylinder above the blood cocoon cocoons cocooning frame is controlled, and a piston rod of the single-acting cylinder drives a silk cutting tool to move upwards.
Preferably, the cocoon picking method comprises the steps of S111, acquiring a cocoon image I by using a door-shaped visual recognition module; s112, performing graying processing on the silkworm cocoon image I to obtain a silkworm cocoon image II; s113, carrying out binarization and morphological opening operation on the silkworm cocoon image II, and traversing the silkworm cocoon image by utilizing an eight-neighborhood communication criterion to establish a communication area so as to obtain a silkworm cocoon image III; s114, extracting mass center coordinates of the silkworm cocoons in each silkworm cocoon area in the silkworm cocoon image III; s115, carrying out pixel gray level equalization in the long and short axis directions on each silkworm cocoon area in the silkworm cocoon image II based on the mass center; s116, judging whether the pixel gray value of each silkworm cocoon area is in a blood cocoon gray range or not, and if so, determining that the silkworm cocoon area is a blood cocoon; otherwise, the cocoon is good.
Preferably, the step S115 of the cocoon picking method includes S1151, constructing an ellipse having the same standard second-order central moment as the silkworm cocoon area by using an area feature extraction method; s1152, circulating coordinates of the mass center of each silkworm cocoon in the silkworm cocoon image II to enable the mass center of each silkworm cocoon to be superposed with the center of a constructed ellipse; s1153, solving the pixel gray value of each silkworm cocoon area in the elliptical short axis direction passing through the center of mass; s1154, solving the pixel gray value of each silkworm cocoon area in the direction of the long axis of the ellipse passing through the center of mass; and S1155, averaging all pixel gray values of each silkworm cocoon area on each short and long axis.
Preferably, the step of identifying the frame of the paper cocooning frame comprises the steps of S121, acquiring a silkworm cocoon image I by using a door-shaped visual identification module 8; s122, carrying out graying processing on the silkworm cocoon image I, and obtaining a silkworm cocoon image II; s123, carrying out gray linear enhancement on the lattice cluster frame; the gray linear enhancement function is that y is kx + b, x represents the gray of an original image, y represents the gray of the transformed image, k represents the slope of the gray function, and b represents the brightness of the image; and S124, performing Laplace sharpening on the paper cocooning frames, and further highlighting the borders of the paper cocooning frames.
As described above, the automatic cocoon picking system, the automatic cocoon picking machine and the cocoon picking method of the present invention have the following advantageous effects:
(1) the technical scheme includes that the checker clusters are transmitted and detected through a transmission centering module; the visual identification module collects the square lattice image and identifies silkworm cocoons and square lattice frames; the conveying and clamping module conveys, detects and clamps the paper cocooning frames; the cocoon picking manipulator picks the silkworm cocoons from the square cocooning frame, and then the next square cocooning frame is circularly processed; in the prior art, after each square cocooning frame is removed, a new square cocooning frame needs to be manually loaded, and continuous automatic cocoon picking of the square cocooning frames cannot be realized; compared with the prior art, the technical scheme realizes automatic cocoon picking of the paper cocooning frame, and improves cocoon picking efficiency and cocoon picking quality in silkworm breeding of mulberry growers based on the paper cocooning frame.
(2) According to the recognition result of the cocooning frame, the multi-station pneumatic cocoon picking device starts to work to realize silk cutting along the cocooning frame, and the silkworm cocoons automatically fall off under the self-weight condition; in the prior art, damage to the silkworm cocoons exists in the automatic cocoon picking process; compared with the prior art, the technical scheme can not damage the silkworm cocoons.
(3) The cocoon recognition algorithm, the square cluster frame recognition algorithm and the automatic cocoon picking machine control process realize automatic high-speed recognition and screening of blood cocoons or other bad cocoons, and improve cocoon picking efficiency and cocoon picking quality; blood cocoons and good cocoons cannot be distinguished in the prior art, and compared with the prior art, the technical scheme realizes the recognition, picking and screening of the blood cocoons and improves the cocoon picking quality.
Drawings
FIG. 1 is a schematic diagram of an automatic cocoon picking system according to the present invention;
FIG. 2 is a schematic diagram of a conveying and centering module of the automatic cocoon picking system according to the present invention;
FIG. 3 is a schematic diagram of a conveying and clamping module of the automatic cocoon picking system according to the present invention;
FIG. 4 is a schematic structural diagram of a cocoon picking manipulator in the automatic cocoon picking system of the present invention;
FIG. 5 is a schematic structural view of a multi-station pneumatic cocoon picking device in the automatic cocoon picking system according to the present invention;
FIG. 6 is a schematic view showing the structure of the automatic cocoon picker according to the present invention;
FIG. 7 is a flow chart of cocoon picking method according to the present invention;
FIG. 8 is a flow chart of an algorithm for identifying silkworm cocoons according to the present invention;
FIG. 9 is a flowchart illustrating the process of averaging the gray levels of pixels on the major and minor axes of each cocoon area based on the centroid according to the present invention;
FIG. 10 is a flowchart illustrating an algorithm for identifying a box grid according to the present invention.
The reference numbers illustrate:
the cocoon picking machine comprises a rack 1, a left beam 2, a connecting beam 3, a right beam 4, a conveying centering module 5, a conveying clamping module 6, a cocoon picking manipulator 7, a visual identification module 8, a first synchronous belt pulley 9, a first roller 10, a wide conveying belt 11, a first alternating current speed reducing motor 12, a first synchronous belt 13, a centering guide module 14, a first laser correlation photoelectric switch 15, a second alternating current speed reducing motor 16, a second synchronous belt pulley 17, a second synchronous belt 18, a third synchronous belt pulley 19, a second roller 20, a narrow conveying belt 21, a third alternating current speed reducing motor 22, a fourth synchronous belt pulley 23, a third synchronous belt 24, a fifth synchronous belt pulley 25, a first bidirectional screw rod 26, a sixth synchronous belt pulley 27, a fourth synchronous belt 28, a seventh synchronous belt pulley 29, a second bidirectional screw rod 30, a first nut 31, a second nut 32, a third nut 33, a fourth nut 34, a front clamping plate 35, a first limit switch 36, A rear clamp plate 37, a second limit switch 38, a second laser opposed photoelectric switch 39, a third limit switch 40, a square frame 41, an eighth synchronous pulley 42, a ninth synchronous pulley 43, a first stepping motor 44, a second stepping motor 45, a tenth synchronous pulley 46, an eleventh synchronous pulley 47, a first linear guide rail 48, a second linear guide rail 49, a first i-shaped slider 50, a twelfth synchronous pulley 51, a thirteenth synchronous pulley 52, a first slider 53, a second i-shaped slider 54, a fourteenth synchronous pulley 55, a fifteenth synchronous pulley 56, a second slider 57, a first link 58, a second link 59, a multi-position pneumatic cocoon picking device 60, a double-sided synchronous belt 61, a first stroke switch 62, a second stroke switch 63, a concave cover 64, a square pad 65, a first linear bearing 66, a second linear bearing 67, a first synchronous belt groove 68, a second synchronous belt groove 69, a first linear bearing 69, a square frame 41, a eighth synchronous pulley 42, a ninth synchronous pulley 43, a tenth synchronous pulley 52, a tenth synchronous pulley 53, a fourteenth synchronous pulley 55, a fifteenth synchronous pulley 56, a second slider 57, a second linear bearing 67, a second linear bearing, a third, a fourth linear bearing, a fourth, a fifth, a fourth, a fifth, a sixth, a fifth, a fourth, a sixth, a fifth, a sixth, a fifth, a sixth, a fourth, a fifth, a sixth, a fifth, a sixth, a fourth, a sixth, a first screw 70, a grid-shaped shell 71, a second screw 72, a single-acting cylinder 73, a silk cutting tool 74, a third screw 75 and a control module 76.
Steps S10 to S40, steps S111 to S116, steps S1151 to S1155, and steps S121 to S124.
Detailed Description
In order to make the purpose and technical solution of the embodiments of the present invention clearer, the technical solution of the embodiments of the present invention will be clearly and completely described below with reference to the drawings of the embodiments of the present invention. It should be apparent that the described embodiments are only some of the embodiments of the present invention, and not all of them. All other embodiments, which can be derived by a person skilled in the art from the described embodiments of the invention without inventive step, are within the scope of protection of the invention.
The meaning of "upper and lower" in the invention means that "upper" means positioned at a high position, as opposed to "lower", i.e. upper side; "lower" means in a low position, as opposed to "upper", i.e., the lower layer. And is not limited specifically to the present cocoon picking machine.
The meaning of "left and right" in the invention refers to that when a reader faces the attached drawing, the left side of the reader is left, and the right side of the reader is right, and is not a specific limitation on the cocoon picking machine of the invention.
The term "connected" as used herein may mean either a direct connection between the components or an indirect connection between the components via other components.
The meaning of "front and back" in the invention refers to that when a reader faces the attached drawing, the part close to the reader is front, and the part far away from the reader is back, and is not specific limitation on the cocoon picking machine of the invention.
The terms "first," "second," "third," and the like (if any) in this disclosure are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the terms so used are interchangeable under appropriate circumstances such that the embodiments of the subject matter described herein are, for example, capable of operation in other sequences than those illustrated or otherwise described herein.
Example 1
As shown in fig. 1, an automatic cocoon picking system sequentially comprises: the cocoon picking machine comprises a conveying centering module 5, a visual recognition module 8 and a conveying clamping module 6, wherein a cocoon picking manipulator 7 is installed on the conveying clamping module 6, and a control module 76 is in communication connection with and controls the conveying centering module 5, the visual recognition module 8, the conveying clamping module 6 and the cocoon picking manipulator 7 respectively. The vision recognition module is preferably a door-type vision recognition module. It should be noted that the communication connection includes an electrical connection, a wireless connection, an electromagnetic coupling connection, or the like; the control module may specifically adopt an MCU processor, a CPU processor, an Soc processor, an FPGA processor, or a DSP processor, etc.
Specifically, the paper cocooning frame with the silkworm cocoons is placed in the conveying and centering module 5, and the conveying and centering module 5 conveys the paper cocooning frame to the visual identification module 8 after detecting the paper cocooning frame; the visual identification module 8 collects the image of the paper cocooning frame, firstly completes the identification of the silkworm cocoon, and then identifies the frame of the paper cocooning frame; then, the paper cocooning frames are continuously conveyed to the conveying clamping module 6 for detection, and the conveying clamping module 6 clamps the paper cocooning frames after detecting the paper cocooning frames; the cocoon picking manipulator 7 picks the silkworm cocoons. The next square cluster is then processed according to the process described above.
Preferably, as shown in fig. 6 and 2, the conveying centering module 5 in the automatic cocoon picking machine according to the present invention includes a first synchronous pulley 9 installed at the left end of the left beam 2, the first synchronous pulley 9 is coaxially connected with a first drum 10, a wide conveying belt 11 is wound on the first drum 10, and the first synchronous pulley 9 is driven by a first ac speed reduction motor 12 installed on the frame 1 through a first synchronous belt 13, so as to drive the wide conveying belt 11 to convey forward. The right end of the left cross beam 2 is provided with a centering guide module 14, and the upper right end of the centering guide module 14 is provided with a first laser correlation photoelectric switch 15.
Preferably, as shown in fig. 6 and 3, the transfer gripping module 6 of the automatic cocoon picking machine of the present invention comprises a transfer device and a centering gripping device. The conveying device comprises a second alternating current speed reducing motor 16 on the rack 1, and the second alternating current speed reducing motor 16 drives a second roller 20 to rotate through a second synchronous belt pulley 17, a second synchronous belt 18 and a third synchronous belt pulley 19. Three narrow conveyor belts 21 arranged in parallel and spaced apart for supporting the paper cocooning frames are uniformly distributed on the second drum 20. The centering and clamping device comprises a third alternating current speed reducing motor 22 on the rack 1, the third alternating current speed reducing motor 22 drives a first bidirectional screw rod 26 to rotate through a fourth synchronous belt pulley 23, a third synchronous belt 24 and a fifth synchronous belt pulley 25, a sixth synchronous belt pulley 27 is mounted at the outer end of the first bidirectional screw rod 26, and a second bidirectional screw rod 30 is driven to rotate through a fourth synchronous belt 28 and a seventh synchronous belt pulley 29. The front end and the rear end of the first bidirectional screw rod 26 are respectively provided with a first nut 31 and a second nut 32, and the front end and the rear end of the second bidirectional screw rod 30 are respectively provided with a third nut 33 and a fourth nut 34. The first nut 31 and the third nut 33 are provided with a front clamping plate 35, and the middle of the front clamping plate 35 is provided with a first limit switch 36. The second nut 32 and the fourth nut 34 are provided with a rear clamping plate 37, and the rear clamping plate 37 is provided with a second limit switch 38. A second laser correlation photoelectric switch 39 and a third limit switch 40 are sequentially arranged from left to right on the upper right edge of the right cross beam 3 on the frame 1.
Preferably, as shown in fig. 6 and 4, the cocoon picking manipulator 7 of the automatic cocoon picking machine of the present invention includes a square frame 41 mounted on the right cross member 4, an eighth synchronous pulley 42 and a ninth synchronous pulley 43 are mounted on two left vertical posts of the square frame 41, a first stepping motor 44 and a second stepping motor 45 are mounted on two right vertical posts of the square frame 41, a tenth synchronous pulley 46 is coaxially mounted at a lower end of the first stepping motor 44, and an eleventh synchronous pulley 47 is coaxially mounted at a lower end of the second stepping motor 45. A first linear guide rail 48 and a second linear guide rail 49 are further arranged on the front and rear cross beams of the square frame 41 in parallel, a first drum-shaped slider 50 is arranged on the first linear guide rail 48, a twelfth synchronous pulley 51 and a thirteenth synchronous pulley 52 are arranged on two sides of the upper end of the first drum-shaped slider 50, and a first slider 53 which is sleeved on the first linear guide rail 48 is arranged at the lower end of the first drum-shaped slider 50. A second drum block 54 having the same structure as the first drum block 50 is mounted on the second linear guide 49, and the second drum block 54 includes a fourteenth synchronous pulley 55, a fifteenth synchronous pulley 56 and a second block 57. The first drum slide 50 and the second drum slide 54 are fixed by two parallel first connecting rods 58 and second connecting rods 59, and the first connecting rods 58 and the second connecting rods 59 pass through a multi-station pneumatic cocoon picking device 60. The double-sided synchronous belt 61 wound on the eighth synchronous pulley 42 sequentially passes through the tenth synchronous pulley 46, the thirteenth synchronous pulley 52, the multi-station pneumatic cocoon picking device 60, the fifteenth synchronous pulley 56, the eleventh synchronous pulley 47, the ninth synchronous pulley 43, the fourteenth synchronous pulley 55, the multi-station pneumatic cocoon picking device 60, the twelfth synchronous pulley 51 and then the eighth synchronous pulley 42 to form a closed loop. A first travel switch 62 is arranged on the left cross beam of the square frame 41, and a second travel switch 63 is arranged on the right cross beam.
Preferably, as shown in fig. 6 and 5, the multi-station pneumatic cocoon picking device 60 of the automatic cocoon picking machine of the present invention includes a square slider and a multi-station pneumatic cutter. The square slider comprises a concave cover 64, a square pad 65 is arranged in the concave cover 64, a first linear bearing 66 and a second linear bearing 67 for communicating the first connecting rod 58 and the second connecting rod 59 are arranged in the middle of the square pad 65, and a first synchronous belt groove 68 and a second synchronous belt groove 69 for communicating the double-sided synchronous belt 61 are arranged on the right side of the first linear bearing 66 and the left side of the second linear bearing 67. The female cover 64 is fixed to the square pad 65 by a first screw 70, the first screw 70 being simultaneously tightened against the first linear bearing 66 for fixing. The pneumatic cutter of multistation includes bars shape shell 71, 18 single-action cylinders 73 are being fixed through second screw 72 on the bars shape shell 71, silk cutting tool 74 is all equipped with to single-action cylinder 73's piston rod tip, the length and the width of controlling between each single-action cylinder 73, front and back distance and each square cocooning frame of silkworm cocoon are unanimous. The concave cover 64 is fixed to the grid-shaped case 71 by a third screw 75.
Example 2
Corresponding to the above embodiments, the present invention can also provide an automatic cocoon picking machine, and the technical features in the above embodiments can be applied to the present embodiment, so the same technical details are not repeated.
As shown in fig. 6, the automatic cocoon picking machine comprises a frame 1, wherein the frame 1 comprises two left cross beams 2, two middle connecting beams 3 and two right cross beams 4 which are arranged in parallel and in an isolated manner, a conveying centering module 5 is arranged on the left cross beam 2, a conveying clamping module 6 is arranged on the right cross beam 4, a cocoon picking manipulator 7 is arranged at the upper part of the conveying clamping module 6, and a visual identification module 8 is arranged between the conveying centering module 5 and the conveying clamping module 6.
Specifically, the working principle of the automatic cocoon picking machine is as follows: the cocooning frame with the silkworm cocoons is placed on an automatic cocoon picking machine, the first alternating-current speed reducing motor 12 drives the wide conveying belt 11 to convey the cocooning frame to move forwards to the conveying centering module 5, if the first laser correlation photoelectric switch 15 detects the cocooning frame, the first alternating-current speed reducing motor 12 stops rotating, and the wide conveying belt 11 stops conveying. Then, the visual recognition module 8 collects the image of the paper cocooning frame, and performs cocoon recognition and paper cocooning frame recognition. Then, the second laser correlation photoelectric switch 39 starts to operate to detect the paper cocooning frame, and if the detection is not detected, the first alternating current speed reducing motor 12 and the second alternating current speed reducing motor 16 respectively drive the wide conveyor belt 11 and the narrow conveyor belt 21, so that the conveyed paper cocooning frame continues to move forwards until the second laser correlation photoelectric switch 39 detects the paper cocooning frame. At this time, the second ac gear motor 16 stops rotating, the narrow conveyor belt 21 stops conveying, and the third ac gear motor 22 drives the first bidirectional screw rod 26 and the second bidirectional screw rod 30 to drive the front clamping plate 35 and the rear clamping plate 37 to clamp the checker cocooning frames in a centering manner; and the first limit switch 36 and the second limit switch 38 detect signals at the same time, and if the signals are detected, the third ac gear motor 22 stops rotating.
According to the cocoon recognition result, the single-acting cylinder 73 of the multi-station pneumatic cocoon picking device 60 is controlled. If blood cocoons or other bad cocoons exist in a cocoon picking grid area where the multi-station pneumatic cocoon picking device 60 is located, the single-action air cylinder 73 correspondingly above the blood cocoons or other bad cocoons is controlled, and a piston rod of the single-action air cylinder drives the silk cutting tool 74 to move upwards, namely the silk cutting tool 74 does not process the blood cocoons or other bad cocoons, and the blood cocoons or other bad cocoons cannot fall off; otherwise all the single-acting cylinders 73 of the multi-station pneumatic cocoon picking device 60 are kept ready in situ. The blood cocoon is actually the inner layer of the cocoon polluted by liquid leaked from the broken pupa body, and the whole cocoon layer is polluted by the liquid from inside to outside to form blood scar and rotten cocoon.
According to paper cocooning frame recognition result, drive two-sided hold-in range 61 through first step motor 44 and second step motor 45 and drive the pneumatic silk cutting of plucking cocoon device 60 realization along paper cocooning frame of multistation, the automatic dropping of completion under the dead weight condition of silkworm cocoon, the automation of accomplishing silkworm cocoon is plucked.
If all the silkworm cocoons in all the areas of the cocooning frame are picked, all the single-acting air cylinders 73 in the multi-station pneumatic cocoon picking device 60 are controlled, the piston rods drive all the silk cutting tools 74 to move upwards, the multi-station pneumatic cocoon picking device 60 is reset to the initial position, the cocoon picking manipulator 7 stops working, and cocoon picking is completed. If the cocoons in all the areas of the paper cocooning frame are not picked up completely, the multi-station pneumatic cocoon picking device 60 continuously moves to the next area, and then processing is carried out according to the cocoons and the recognition results of the paper cocooning frame.
After cocoon picking work is finished, the third alternating current speed reducing motor 22 drives the first bidirectional screw rod 26 and the second bidirectional screw rod 30 to drive the front clamping plate 35 and the rear clamping plate 37 to loosen the cocooning frames, and when the third limit switch 40 sends a contact signal, the third alternating current speed reducing motor 22 stops rotating; the second ac gear motor 16 then drives the narrow conveyor belt 21 to remove the checker cocooning frames; when the second laser correlation photoelectric switch 39 detects the cocooning frame, the second ac gear motor 16 drives the narrow conveyor belt 21 to move the cocooning frame out continuously, and if the second laser correlation photoelectric switch 39 does not detect the cocooning frame, the initial cocoon picking step is repeated.
Example 3
Corresponding to the above embodiments, the present invention can also provide a cocoon picking method, and the technical features in the above embodiments can be used in the present embodiment, so the same technical details are not repeated. The protection scope of the cocoon picking method of the present invention is not limited to the execution sequence of the steps illustrated in the embodiment, and all the schemes of adding, subtracting, and replacing steps in the prior art according to the principle of the present invention are included in the protection scope of the present invention.
As shown in fig. 7, a cocoon picking method comprises the following steps: s10, preparing silkworm cocoon picking, wherein: the transmission centering module detects and transmits the paper cocooning frames; the visual identification module collects the square lattice image and identifies silkworm cocoons and square lattice frames; the conveying and clamping module conveys, detects and clamps the paper cocooning frames; s20, controlling a cocoon picking manipulator to pick silkworm cocoons from the paper cocooning frame; s30, repeating S10. Preferably, S40, blood cocoons are recognized, the cocoon picking manipulator is controlled not to pick blood cocoons, wherein the single-acting air cylinder above the corresponding blood cocoon paper cocoons cocooning frame is controlled, and the piston rod of the single-acting air cylinder drives the silk cutting tool to move upwards.
As shown in fig. 8, the step of identifying the silkworm cocoon includes: s111, acquiring a silkworm cocoon image I by using a portal visual identification module; s112, carrying out graying processing on the silkworm cocoon image I and obtaining a silkworm cocoon image II; s113, carrying out binarization and morphological opening operation on the silkworm cocoon image II, and traversing the silkworm cocoon image by utilizing an eight-neighborhood communication criterion to establish a communication area so as to obtain a silkworm cocoon image III; s114, extracting mass center coordinates of the silkworm cocoons in each silkworm cocoon area in the silkworm cocoon image III; s115, carrying out pixel gray level equalization in the long and short axis directions on each silkworm cocoon area in the silkworm cocoon image II based on the mass center; s116, judging whether the pixel gray value of each silkworm cocoon area is in a blood cocoon gray range or not, and if so, determining that the silkworm cocoon area is a blood cocoon; otherwise, the cocoon is good.
Preferably, as shown in fig. 9, step S115 includes: s1151, constructing an ellipse with the same standard second-order central moment as the silkworm cocoon area by using a regional characteristic extraction method; s1152, circulating coordinates of the mass center of each silkworm cocoon in the silkworm cocoon image II to enable the mass center of each silkworm cocoon to be superposed with the center of a constructed ellipse; s1153, solving the pixel gray value of each silkworm cocoon area in the elliptical short axis direction passing through the center of mass; s1154, solving the pixel gray value of each silkworm cocoon area in the direction of the long axis of the ellipse passing through the center of mass; s1155, averaging all the pixel gray values of the cocoon areas on the respective short and long axes.
As shown in fig. 10, the step of identifying the box cluster border includes: s121, acquiring a silkworm cocoon image I by using the portal visual identification module 8; s122, carrying out graying processing on the silkworm cocoon image I, and obtaining a silkworm cocoon image II; s123, carrying out gray linear enhancement on the lattice cluster frame; the gray linear enhancement function is that y is kx + b, x represents the gray of the original image, y represents the gray of the transformed image, k represents the slope of the gray function, and b represents the brightness of the image; and S124, performing Laplace sharpening on the paper cocooning frames, and further highlighting the borders of the paper cocooning frames.
In summary, the automatic cocoon picking system, the automatic cocoon picking machine and the cocoon picking method of the invention have the advantages that the conveying centering module conveys and detects the cocooning frames; the visual identification module collects the square lattice image and identifies silkworm cocoons and square lattice frames; the conveying and clamping module conveys, detects and clamps the paper cocooning frames; the cocoon picking manipulator picks the silkworm cocoons from the square cocooning frame, and then the next square cocooning frame is circularly processed; the automatic cocoon picking of the paper cocooning frame is realized, and the cocoon picking efficiency and the cocoon picking quality in silkworm breeding based on the paper cocooning frame by mulberry growers are improved. According to the recognition result of the cocooning frame, the multi-station pneumatic cocoon picking device starts to work to realize silk cutting along the cocooning frame, and silkworm cocoons automatically fall off under the self-weight condition; the technical scheme can not damage the silkworm cocoons. Meanwhile, the cocoon recognition algorithm, the square cluster frame recognition algorithm and the automatic cocoon picking machine control process realize automatic high-speed recognition and screening of blood cocoons or other bad cocoons, and improve cocoon picking efficiency and cocoon picking quality. Therefore, the invention effectively overcomes various defects in the prior art and has high industrial utilization value.
The foregoing embodiments are merely illustrative of the principles and utilities of the present invention and are not intended to limit the invention. Those skilled in the art can modify or change the above-described embodiments without departing from the spirit and scope of the present invention. Accordingly, it is intended that all equivalent modifications or changes which can be made by those skilled in the art without departing from the spirit and technical spirit of the present invention be covered by the claims of the present invention.
Claims (9)
1. An automatic cocoon picking system, characterized in that the automatic cocoon picking system comprises:
the transmission centering module transmits the paper cocooning frames after detecting the paper cocooning frames;
the vision recognition module is connected with the transmission centering module, collects the paper cocooning frame image transmitted by the transmission centering module and recognizes the silkworm cocoons and the paper cocooning frame;
the conveying and clamping module is connected with the visual recognition module and is used for conveying, detecting and clamping the paper cocooning frames;
a cocoon picking manipulator arranged on the conveying clamping module to pick silkworm cocoons from the paper cocooning frame;
the control module is respectively in communication connection with and controls the transmission centering module, the visual recognition module, the transmission clamping module and the cocoon picking manipulator;
the cocoon picking manipulator comprises a multi-station pneumatic cocoon picking device, the multi-station pneumatic cocoon picking device comprises a single-action cylinder, and a silk cutting tool is arranged at the end part of a piston rod of the single-action cylinder; the control module is used for controlling the single-acting cylinder according to a silkworm cocoon identification result, if blood cocoons or other bad cocoons exist in a cocoon picking grid area where the multi-station pneumatic cocoon picking device is located, the single-acting cylinder above the blood cocoons or other bad cocoon grids are controlled, and a piston rod of the single-acting cylinder drives the silk cutting tool to move upwards, so that the silk cutting tool does not process the blood cocoons or other bad cocoons, and the blood cocoons or other bad cocoons cannot fall off; otherwise all the single-acting cylinders are kept in place and ready;
the cocoon picking manipulator comprises a square frame arranged on a right cross beam, an eighth synchronous belt pulley and a ninth synchronous belt pulley are arranged on two upright posts on the left side of the square frame, a first stepping motor and a second stepping motor are arranged on two upright posts on the right side of the square frame, a tenth synchronous belt pulley is coaxially arranged at the lower end of the first stepping motor, and an eleventh synchronous belt pulley is coaxially arranged at the lower end of the second stepping motor; a first linear guide rail and a second linear guide rail are arranged on the front cross beam and the rear cross beam of the square frame in parallel, a first I-shaped sliding block is arranged on the first linear guide rail, a twelfth synchronous belt pulley and a thirteenth synchronous belt pulley are arranged on two sides of the upper end of the first I-shaped sliding block, and a first sliding block sleeved on the first linear guide rail is arranged at the lower end of the first I-shaped sliding block; a second I-shaped sliding block with the same structure as the first I-shaped sliding block is arranged on the second linear guide rail, and the second I-shaped sliding block comprises a fourteenth synchronous belt wheel, a fifteenth synchronous belt wheel and a second sliding block; the first I-shaped sliding block and the second I-shaped sliding block are fixed through two parallel first connecting rods and second connecting rods, and the first connecting rods and the second connecting rods penetrate through the multi-station pneumatic cocoon picking device; a double-sided synchronous belt wound on the eighth synchronous belt wheel sequentially passes through a tenth synchronous belt wheel, a thirteenth synchronous belt wheel, a multi-station pneumatic cocoon picking device, a fifteenth synchronous belt wheel, an eleventh synchronous belt wheel, a ninth synchronous belt wheel, a fourteenth synchronous belt wheel, a multi-station pneumatic cocoon picking device and a twelfth synchronous belt wheel and then reaches the eighth synchronous belt wheel to form a closed loop; a first travel switch is arranged on a left cross beam of the square frame, and a second travel switch is arranged on a right cross beam;
the multi-station pneumatic cocoon picking device comprises a square sliding block and a multi-station pneumatic cutter, wherein the square sliding block comprises a concave cover, a square lining block is arranged in the concave cover, a first linear bearing and a second linear bearing which are used for passing through a first connecting rod and a second connecting rod are arranged in the middle of the square lining block, a first synchronous belt groove and a second synchronous belt groove which are used for passing through the double-sided synchronous belt are arranged on the right side of the first linear bearing and the left side of the second linear bearing, the concave cover is fixed with the square lining block through a first screw, and the first screw is simultaneously tightly pressed against the first linear bearing for fixing; the multi-station pneumatic cutter comprises a grid-shaped shell, a plurality of single-action cylinders are fixed on the grid-shaped shell through second screws, the left-right and front-back distances among the single-action cylinders are consistent with the length and width of each square cluster of silkworm cocoons, and the concave cover is fixed with the grid-shaped shell through third screws.
2. The automatic cocoon picking system of claim 1, characterized in that: the conveying centering module comprises a first synchronous belt wheel, a first alternating current speed reducing motor and a centering guide module, and the first synchronous belt wheel is connected with the first alternating current speed reducing motor; the first synchronous belt pulley is coaxially connected with a first roller, and a wide conveying belt is wound on the first roller; and a first laser correlation photoelectric switch is arranged on the centering guide module.
3. The automatic cocoon picking system of claim 1, characterized in that: the conveying clamping module comprises a conveying device and a centering clamping device;
the conveying device comprises a second synchronous belt wheel, a third synchronous belt wheel and a second alternating current speed reducing motor, and the second alternating current speed reducing motor drives the second roller to rotate through the second synchronous belt wheel and the third synchronous belt wheel; narrow conveying belts are uniformly distributed on the second roller;
the centering and clamping device comprises a third alternating current speed reducing motor, a first bidirectional screw rod, a second bidirectional screw rod and a second laser correlation photoelectric switch, and the third alternating current speed reducing motor is respectively connected with and drives the first bidirectional screw rod and the second bidirectional screw rod to rotate; the automatic feeding device is characterized in that a front clamping plate and a rear clamping plate are arranged between the first bidirectional screw rod and the second bidirectional screw rod, a first limit switch is arranged on the front clamping plate, a second limit switch is arranged on the rear clamping plate, and a third limit switch is arranged on a rack of the conveying clamping module.
4. An automatic cocoon picking machine, characterized in that the automatic cocoon picking machine comprises:
the transmission centering module transmits the detected paper cocooning frames after detecting the paper cocooning frames and comprises a first alternating current speed reducing motor, a wide transmission belt and a first laser correlation photoelectric switch;
the vision recognition module is connected with the transmission centering module, collects the paper cocooning frame image transmitted by the transmission centering module and recognizes silkworm cocoons and the paper cocooning frame;
the conveying clamping module is connected with the visual recognition module, conveys, detects and clamps the square clusters and comprises a second laser correlation electric switch, a second alternating current speed reducing motor, a narrow conveying belt, a third alternating current speed reducing motor, a front clamping plate and a rear clamping plate;
the cocoon picking manipulator is arranged on the conveying clamping module to pick silkworm cocoons from the cocooning frame and comprises a multi-station pneumatic cocoon picking device, wherein the multi-station pneumatic cocoon picking device comprises a single-action cylinder, and a silk cutting tool is arranged at the end part of a piston rod of the single-action cylinder;
the control module is respectively in communication connection with and controls the transmission centering module, the visual recognition module, the transmission clamping module and the cocoon picking manipulator;
the control module is used for controlling the single-acting cylinder according to a silkworm cocoon identification result, if blood cocoons or other bad cocoons exist in a cocoon picking grid area where the multi-station pneumatic cocoon picking device is located, the single-acting cylinder above the blood cocoons or other bad cocoon grids are controlled, and a piston rod of the single-acting cylinder drives the silk cutting tool to move upwards, so that the silk cutting tool does not process the blood cocoons or other bad cocoons, and the blood cocoons or other bad cocoons cannot fall off; otherwise all the single-acting cylinders are kept in the original position and ready;
the cocoon picking manipulator comprises a square frame arranged on a right cross beam, an eighth synchronous belt pulley and a ninth synchronous belt pulley are arranged on two upright posts on the left side of the square frame, a first stepping motor and a second stepping motor are arranged on two upright posts on the right side of the square frame, a tenth synchronous belt pulley is coaxially arranged at the lower end of the first stepping motor, and an eleventh synchronous belt pulley is coaxially arranged at the lower end of the second stepping motor; a first linear guide rail and a second linear guide rail are arranged on the front cross beam and the rear cross beam of the square frame in parallel, a first I-shaped sliding block is arranged on the first linear guide rail, a twelfth synchronous pulley and a thirteenth synchronous pulley are arranged on two sides of the upper end of the first I-shaped sliding block, and a first sliding block sleeved on the first linear guide rail is arranged at the lower end of the first I-shaped sliding block; a second I-shaped sliding block with the same structure as the first I-shaped sliding block is arranged on the second linear guide rail, and the second I-shaped sliding block comprises a fourteenth synchronous belt wheel, a fifteenth synchronous belt wheel and a second sliding block; the first I-shaped sliding block and the second I-shaped sliding block are fixed through two parallel first connecting rods and second connecting rods, and the first connecting rods and the second connecting rods penetrate through the multi-station pneumatic cocoon picking device; a double-sided synchronous belt wound on the eighth synchronous pulley sequentially passes through a tenth synchronous pulley, a thirteenth synchronous pulley, a multi-station pneumatic cocoon picking device, a fifteenth synchronous pulley, an eleventh synchronous pulley, a ninth synchronous pulley, a fourteenth synchronous pulley, a multi-station pneumatic cocoon picking device and a twelfth synchronous pulley and then reaches the eighth synchronous pulley to form a closed loop; a first travel switch is arranged on a left cross beam of the square frame, and a second travel switch is arranged on a right cross beam;
the multi-station pneumatic cocoon picking device comprises a square sliding block and a multi-station pneumatic cutter, wherein the square sliding block comprises a concave cover, a square lining block is arranged in the concave cover, a first linear bearing and a second linear bearing which are used for communicating a first connecting rod and a second connecting rod are arranged in the middle of the square lining block, and a first synchronous belt groove and a second synchronous belt groove which are used for communicating a double-sided synchronous belt are arranged on the right side of the first linear bearing and the left side of the second linear bearing; the concave cover is fixed with the square filler block through a first screw which simultaneously tightly abuts against the first linear bearing for fixing; the multi-station pneumatic cutter comprises a grid-shaped shell, a plurality of single-action cylinders are fixed on the grid-shaped shell through second screws, the left-right distance and the front-back distance between the single-action cylinders are consistent with the length and the width of each square cocooning frame of the silkworm cocoon, and the concave cover is fixed with the grid-shaped shell through third screws.
5. A cocoon picking method using the automatic cocoon picking machine according to claim 4, characterized by comprising: comprises the following steps of (a) preparing a solution,
s10, preparing silkworm cocoon picking, wherein: the transmission centering module detects and transmits the paper cocooning frames; the visual identification module collects the square lattice image and identifies silkworm cocoons and square lattice frames; the conveying and clamping module conveys, detects and clamps the paper cocooning frames;
s20, controlling a cocoon picking manipulator to pick silkworm cocoons from the paper cocooning frame;
s30, repeat S10 and S20.
6. A cocoon picking method according to claim 5, characterized in that: the method also comprises the step of carrying out the following steps,
and S40, recognizing blood cocoons, and controlling a cocoon picking manipulator not to pick blood cocoons, wherein a single-acting cylinder above the blood cocoon paper cocoons are controlled, and a piston rod of the single-acting cylinder drives a silk cutting tool to move upwards.
7. A cocoon picking method according to claim 6, characterized in that: the step of identifying the silkworm cocoons comprises,
s111, acquiring a silkworm cocoon image I by using a portal visual identification module;
s112, carrying out graying processing on the silkworm cocoon image I and obtaining a silkworm cocoon image II;
s113, carrying out binarization and morphological opening operation on the silkworm cocoon image II, and traversing the silkworm cocoon image by utilizing an eight-neighborhood communication criterion to establish a communication area so as to obtain a silkworm cocoon image III;
s114, extracting mass center coordinates of the silkworm cocoons in each silkworm cocoon area in the silkworm cocoon image III;
s115, carrying out pixel gray level equalization in the long and short axis directions on each silkworm cocoon area in the silkworm cocoon image II based on the mass center;
s116, judging whether the pixel gray value of each silkworm cocoon area is within the blood cocoon gray range or not, and if so, determining that the silkworm cocoon is the blood cocoon; otherwise, good cocoons.
8. A cocoon picking method according to claim 7, characterized in that: the step S115 includes the steps of,
s1151, constructing an ellipse with the same standard second-order central moment as the silkworm cocoon area by using a regional characteristic extraction method;
s1152, circulating coordinates of the mass center of each silkworm cocoon in the silkworm cocoon image II to enable the silkworm cocoon to be superposed with the center of a constructed ellipse; s1153, solving the pixel gray value of each silkworm cocoon area in the elliptical short axis direction passing through the center of mass;
s1154, solving the pixel gray value of each silkworm cocoon area in the direction of the long axis of the ellipse passing through the center of mass;
and S1155, averaging all pixel gray values of each silkworm cocoon area on each short and long axis.
9. A cocoon picking method as claimed in claim 8, wherein: the step of identifying a box-cocooning frame comprises,
s121, acquiring a silkworm cocoon image I by using a portal visual identification module;
s122, carrying out graying processing on the silkworm cocoon image I, and obtaining a silkworm cocoon image II;
s123, carrying out gray linear enhancement on the lattice cluster frame; the gray linear enhancement function is that y is kx + b, x represents the gray of the original image, y represents the gray of the transformed image, k represents the slope of the gray function, and b represents the brightness of the image;
and S124, performing Laplace sharpening on the paper cocooning frames, and further highlighting the borders of the paper cocooning frames.
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| JP7527659B2 (en) * | 2019-03-18 | 2024-08-05 | 紫紘株式会社 | Automatic sericulture system, automatic sericulture method, program and storage medium |
| CN109939961A (en) * | 2019-04-25 | 2019-06-28 | 华南农业大学 | Silkworm chrysalis automatic sorting device in a kind of cocoon |
| CN111134094B (en) * | 2020-01-14 | 2024-08-06 | 嵊州陌桑高科股份有限公司 | Height-limiting vibration-proof frame for frame bottom cocoon picking mechanism |
| CN111109209A (en) * | 2020-01-14 | 2020-05-08 | 嵊州陌桑高科股份有限公司 | Automatic cocoon picking production line in industrial silkworm breeding operation |
| CN111066745B (en) * | 2020-01-14 | 2024-08-06 | 嵊州陌桑高科股份有限公司 | Cocoon guiding mechanism for cocoon picking machine |
| CN112010015B (en) * | 2020-08-21 | 2022-01-04 | 重庆市奉节县祥飞茧丝绸有限公司 | Silkworm cocoon taking-out device for silkworm raising industry |
| CN113080155B (en) * | 2021-05-20 | 2024-06-14 | 西南大学 | Silkworm chrysalis body pickup device and method |
| CN113269275B (en) * | 2021-06-21 | 2023-06-06 | 昆明理工大学 | Real-time detection method for cocoons under cocoons |
| CN114532303B (en) * | 2022-02-27 | 2023-08-01 | 南京市蓝业科技有限公司 | Silk treatment method |
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