CN109926348A - One kind being based on RGB fruit classification method and sorter - Google Patents
One kind being based on RGB fruit classification method and sorter Download PDFInfo
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- CN109926348A CN109926348A CN201910344128.2A CN201910344128A CN109926348A CN 109926348 A CN109926348 A CN 109926348A CN 201910344128 A CN201910344128 A CN 201910344128A CN 109926348 A CN109926348 A CN 109926348A
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- 235000013399 edible fruits Nutrition 0.000 title claims abstract description 116
- 238000000034 method Methods 0.000 title claims abstract description 25
- 238000001514 detection method Methods 0.000 claims abstract description 10
- 230000005484 gravity Effects 0.000 claims abstract description 9
- 239000004615 ingredient Substances 0.000 claims abstract description 9
- 238000003708 edge detection Methods 0.000 claims abstract description 8
- 238000004364 calculation method Methods 0.000 claims abstract description 4
- 238000000605 extraction Methods 0.000 claims abstract description 4
- 230000011218 segmentation Effects 0.000 claims abstract description 4
- 238000010186 staining Methods 0.000 claims abstract description 4
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims description 11
- 230000003993 interaction Effects 0.000 claims description 9
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 5
- 238000012545 processing Methods 0.000 claims description 4
- 238000009434 installation Methods 0.000 claims description 3
- 239000007787 solid Substances 0.000 claims description 2
- 238000004519 manufacturing process Methods 0.000 abstract description 9
- 230000000877 morphologic effect Effects 0.000 abstract description 2
- 238000000926 separation method Methods 0.000 description 9
- 230000006872 improvement Effects 0.000 description 8
- 238000010586 diagram Methods 0.000 description 7
- 230000008901 benefit Effects 0.000 description 5
- 238000005259 measurement Methods 0.000 description 4
- 238000004040 coloring Methods 0.000 description 2
- 238000005303 weighing Methods 0.000 description 2
- XUIMIQQOPSSXEZ-UHFFFAOYSA-N Silicon Chemical compound [Si] XUIMIQQOPSSXEZ-UHFFFAOYSA-N 0.000 description 1
- 230000003044 adaptive effect Effects 0.000 description 1
- 230000032683 aging Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000018109 developmental process Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 235000013305 food Nutrition 0.000 description 1
- 238000009432 framing Methods 0.000 description 1
- 230000004345 fruit ripening Effects 0.000 description 1
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- 230000003287 optical effect Effects 0.000 description 1
- 230000005693 optoelectronics Effects 0.000 description 1
- 239000002420 orchard Substances 0.000 description 1
- 238000004806 packaging method and process Methods 0.000 description 1
- 230000002093 peripheral effect Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 238000011897 real-time detection Methods 0.000 description 1
- 229910052710 silicon Inorganic materials 0.000 description 1
- 239000010703 silicon Substances 0.000 description 1
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- 238000012360 testing method Methods 0.000 description 1
- 235000013311 vegetables Nutrition 0.000 description 1
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
- B07C5/34—Sorting according to other particular properties
- B07C5/342—Sorting according to other particular properties according to optical properties, e.g. colour
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
- B07C5/04—Sorting according to size
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
- B07C5/16—Sorting according to weight
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
- B07C5/34—Sorting according to other particular properties
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
- B07C5/36—Sorting apparatus characterised by the means used for distribution
- B07C5/361—Processing or control devices therefor, e.g. escort memory
- B07C5/362—Separating or distributor mechanisms
-
- 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
- A23N2015/008—Sorting of fruit and vegetables
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C2501/00—Sorting according to a characteristic or feature of the articles or material to be sorted
- B07C2501/009—Sorting of fruit
Landscapes
- Life Sciences & Earth Sciences (AREA)
- Chemical & Material Sciences (AREA)
- Engineering & Computer Science (AREA)
- Food Science & Technology (AREA)
- Polymers & Plastics (AREA)
- Harvesting Machines For Specific Crops (AREA)
Abstract
The invention discloses one kind to be based on RGB fruit classification method, step includes that (1) passes through RGB color identification sensor detection fruit surface RGB ingredient, fruit surface degree of staining is detected, image color value is obtained, adds up stained area percentage with suitable hue value and carries out color grading；It (2) include carrying out gray proces to image, taking appropriate threshold segmentation, Morphological scale-space, edge detection by pretreatment, then by extracting image-region point, calculating image area, center of gravity, perimeter characteristic parameter by camera collection image；(3) extraction Jing Guo edge detection and center of gravity calculation characteristic parameter calculates the position of fruit opposed platforms；(4) it is run by manipulator to target position, the result by fruit according to step (1) and (2) carries out different grades of sorting.The invention also discloses a kind of sorters based on RGB fruit classification method.Present invention classification is accurate, improves production efficiency and reduces production cost.
Description
Technical field
The present invention relates to field of image recognition, more particularly to one kind to be based on RGB fruit classification method and sorter.
Technical background
The main fruit yield in China is sure to occupy the first in the world at present, various in style, best in quality, in national agriculture support policy
Under supporting energetically, the development prospect of fruit is wide, but fruit postpartum commercialization means are still very backward, and classification, packaging waited
Journey needs a large amount of manpowers and time, causes higher cost, economic benefit low.
Due to the graduate management mode of the otherness and China's fruit industry of China's types of fruits and quality, fruit point
Class, the graduation of same fruit are very important Operation Method.Types of fruits is various in the market, and grade is also irregular, each
Kind fruit is all divided into multiple grades.
Take apple as an example, it after orchard worker has picked apple, needs to be divided into according to the quality of the color of apple, size, quality
Different stage is sold, and this classification is manually selected, and wastes a large amount of human resources and production time, and due to the master of worker
Sight factor can not accurately classify.Also there is Some Fruits grade automatic classifier device currently on the market, but most of passes through weight
Amount, diameter classification, can not accurately be divided into multiple grades.And color be measure fruit exterior quality important indicator it
One, by detecting RGB ingredient, identifies fruit color, utilized with weight, diameter cooperation, classification that can be more accurate mentions
High economic benefit.
Food sorter is widely used in fresh goods market, is primarily due to the aging of labour personnel and to employ worker's cost more next
Higher, when being engaged in the product for examining appearance closely similar, the efficiency of desk checking is extremely low.Even if pertaining only to simple
Sorting work, their visual acuity can also slow up, and this promotes Sorting Techniques to be commercially available increasingly
Broadly apply.Compared with artificial separation etc., the fruit categorizing system effect based on RGB can be much better.
Summary of the invention
The purpose of the present invention one is to provide one kind based on RGB fruit classification method, and easily operated, it is more accurate to classify, and mentions
High production efficiency, reduces production cost, improves economic benefit.
The purpose of the present invention two is to provide a kind of sorter based on RGB fruit classification method, easily operated, and classification is more
It is accurate to add, and improves production efficiency, reduces production cost, improves economic benefit.
To achieve the above object one, the present invention provides a kind of based on RGB fruit classification method, and step includes:
(1) detection of RGB ingredient
Fruit surface RGB ingredient is detected by RGB color identification sensor, detects fruit surface degree of staining, obtains image
Color-values add up stained area percentage with suitable hue value and carry out color grading；
(2) detection of fruit size
It include carrying out gray proces to image, taking appropriate threshold segmentation, shape by pretreatment by camera collection image
State processing, edge detection, then by extracting image-region point, calculate image area, center of gravity, perimeter characteristic parameter；
(3) accurate positioning of target
It calculates fruit by the extraction of edge detection and center of gravity calculation characteristic parameter according to step (2) and is put with respect to fruit
The position of horizontalization platform, to be accurately positioned to fruit target；
(4) realization of sorting movement
It according to step (3), is run by manipulator to target position, the result by fruit according to step (1) and step (2)
Carry out different grades of sorting.
As a further improvement of the present invention, the step (2) also measures fruit quality by pressure sensor.
As a further improvement of the present invention, the RGB color identification sensor uses TCS3200D color sensor.
To achieve the above object two, the present invention provides a kind of sorter based on RGB fruit classification method, comprising: bottom
Plate, control cabinet, bracket, manipulator, fruit placement platform, control cabinet, bracket, manipulator and fruit placement platform are installed in bottom
On the upside of plate, control cabinet is provided with master controller, human-computer interaction interface and power supply system, and bracket is fixed on the one of fruit placement platform
Side, the upper end of bracket are equipped with camera and RGB color identification sensor, and camera and RGB color identification sensor are located at water
The surface of fruit placement platform, manipulator can rotate another opposite side that fruit placement platform is distributed in free bend, water
Pressure sensor, pressure sensor, RGB color identification sensor, camera, human-computer interaction circle are also equipped at fruit placement platform
Face, manipulator and power supply system are connect with master controller.
As a further improvement of the present invention, the bracket includes that column and self-stabilised post upper end extend towards manipulator direction
Horizontal arm section, the end of horizontal arm section extend out to form mounting plate one, and the bottom of mounting plate one is equipped with the camera and RGB face
Color identification sensor.
As a further improvement of the present invention, it is connected with diagonal brace one between the lower end two sides and bottom plate of the column, stood
Diagonal brace two is connected between the upper end and horizontal arm section of column.
As a further improvement of the present invention, the fruit placement platform includes support column and plate, support column connection
Between bottom plate and plate, the pressure sensor is housed between support column and plate.
As a further improvement of the present invention, the manipulator includes the pedestal of axis rotation along the vertical direction, bottom
Stepper motor of the bottom of seat equipped with driving pedestal rotation, pedestal upside are fixed with the first connector, the upper end of the first connector
It is hingedly connected with the second connector of axis rotation in the horizontal direction, the upper end of the second connector is hingedly connected with along level side
To axis rotate third connector, the upper end of third connector be hingedly connected with axis in the horizontal direction rotation the 4th
The axis of connector, the second connector, third connector and the rotation of the 4th connector is parallel to each other, and the upper end of the 4th connector is solid
Surely there is mounting plate two, two gripping fingers that can be opened and closed are installed, between the first connector and the second connector on mounting plate two
Articulated position, third connector between articulated position, the second connector and third connector and the hinge between the 4th connector
It connects to be mounted on position and mounting plate two and respectively drives watching for the second connector, third connector and the rotation of the 4th connector
Motor is taken, stepper motor and servo motor are connected to master controller.
As a further improvement of the present invention, first connector and the 4th connector are U-shaped connectors, first
The opening of connector and the 4th connector is opposite, and the second connector is open by upper and lower two towards U opposite and interconnected
Type connector is constituted, and third connector is made of upper and lower two square blocks interconnected, the U positioned at downside of the second connector
Type connector covers outside the first connector, and two square blocks up and down of third connector are respectively fitted in the 4th connector and the
Two connectors in the U-shaped connector of upside.
As a further improvement of the present invention, openable and closable swing arm there are two the one side installations of the mounting plate two,
There are intermeshing tooth, one gripping finger of upper end articulated connection of each swing arm, the middle part of each gripping finger and mounting plate in two swing arms
It is articulated and connected between two by diagonal-bracing type connecting rod, the servo motor installed on mounting plate two is located at opposed swing arms on mounting plate two
The output shaft of another side and the servo motor is connect through mounting plate two with one of swing arm.
Compared with prior art, having the beneficial effect that based on RGB fruit classification method and sorter of the invention:
(1) functions such as the color identification of present invention collection, weight weighing, size measurement, target positioning and fruit separation, pass through
RGB color identification sensor collects fruit colouring information, and camera collection image realizes the measurement of fruit size and target positioning, leads to
The characteristic value for crossing fruit image relatively simplifies the time of fruit classification, for the resolution success rate of fruit of the same race of different shapes
It is greatly improved, all kinds of external informations provided with microcontroller processing sensing system are walked according to set algorithm drives
Target is separated into motor control machinery hand, on software by sensor, motor bottom layer driving based on, at operation and data
Reason be core, with fruit grade separate apply, complete the set function of fruit separation system, it is easily operated, control cost, promoted
Efficiency.
(2) subjective consciousness that staff can be excluded using sensor identification separation, more accurately to fruit grade
Classification；It is separated by automation, the speed of fruit separation can be accelerated, improve production efficiency, reduce production cost, improve warp
Ji benefit；Man-machine interface adjusts the sorting parameters such as color, size, shape, and categorizing system can be used for point of various fruits, vegetables
Class realizes the function of a tractor serves several purposes.
(3) present invention has full-automatic row field frequency adaptive ability and signal self-test ability, the variation of information source end signal
User's adjusting is not needed, target positioning is very accurate, sorts using puma manipulator, and then realize that the intelligence to fruit is real-time
Detection and classification, then pack its disaggregated classification, it can be achieved that unattended automatic assembly line operation.
Through the following description and in conjunction with the attached drawings, the present invention will become more fully apparent, these attached drawings are used to explain the present invention
Embodiment.
Detailed description of the invention
Fig. 1 is RGB composition detection circuit diagram of the present invention；
Fig. 2 is camera Acquisition Circuit figure；
Fig. 3 is human-computer interaction circuit diagram；
Fig. 4 is motor-drive circuit figure；
Fig. 5 is power circuit diagram；
Fig. 6 is main controller circuit diagram
Fig. 7 is apple original image；
Fig. 8 is apple binary image；
Fig. 9 is apple edge-detected image；
Figure 10 is overall structure block diagram of the present invention；
Figure 11 is sorter schematic diagram of the present invention；
Figure 12 is workflow block diagram of the present invention.
Specific embodiment
The embodiment of the present invention described referring now to the drawings, similar element numbers represent similar element in attached drawing.
Please refer to Fig. 1-12, it is described based on RGB fruit classification method, by the color that collects fruit, shape, weight and
The most representative exterior quality feature of size four is finally classified by manipulator as the input data of fruit grade separation
Export the result of fruit grade.Fruit categorizing system may be implemented with the single feature in color, shape, weight and size characteristic
Multiple fixed reference feature classification can also be arranged in classification by man-machine interface.4 sorting speed of manipulator, can adjust as needed, real
The mechanized classification of existing fruit.
Specific implementation step includes:
(1) detection of RGB ingredient
Fruit surface RGB ingredient is detected by RGB color identification sensor 11, detects fruit surface degree of staining, obtains figure
As color-values, adds up stained area percentage with suitable hue value and carry out color grading.Fruit appearance color is fruit maturation
The foundation of state judgement is the premise of fruit classification.RGB composition detection can accurately measure fruit surface color component, be used for
Fruit ranking can act for manipulator 4 and provide information, classify for fruit.RGB composition detection can pass through AD circuit
Acquire each composition information of RGB block.The RGB color identification sensor 11 identifies color using TCS3200D color sensor
Ingredient, TCS3200D are the programmable of TAOS (Texas Advanced Optoelectronic Solutions) company release
Converter of the colourama to frequency.It configurable silicon photoelectric diode and current frequency converter be integrated in one it is single
On cmos circuit, while it being also integrated with three kinds of optical filters of RGB (RGB) on a single chip, being industry first has number simultaneous
Hold the RGB color sensor of interface.The output signal of TCS3200D is digital quantity, can drive the TTL or CMOS logic of standard
Input, therefore can directly be connected with microprocessor or other logic circuits.What it is due to output is digital quantity, and be can be realized
The conversion accuracy of each chrominance channel 10 or more, thus A/D converter circuit is no longer needed, so that circuit is become simpler.
(2) detection of fruit size
By camera 10 acquire image, by pretreatment include to image carry out gray proces, take appropriate threshold segmentation,
Morphological scale-space, edge detection, then by extracting image-region point, calculate image area, center of gravity, perimeter characteristic parameter, make to lead
Controller 7 can evaluate fruit size.Also pass through pressure sensor 12 in this step and measures fruit quality.
(3) accurate positioning of target
It calculates fruit by the extraction of edge detection and center of gravity calculation characteristic parameter according to step (2) and is put with respect to fruit
The position of horizontalization platform 5 provides decision information to be accurately positioned to fruit target for the movement of manipulator 4.Target is positioned for water
Positioning of the fruit on assembly line, provides decision information for manipulator behavior.Target positioning can be using gravity sensing positioning, image
The modes such as identification positioning, it is contemplated that precision problem, using 10 framing of camera.
(4) realization of sorting movement
Knot according to step (3), by the operation of manipulator 4 to target position, by fruit according to step (1) and step (2)
Fruit carries out different grades of sorting.Manipulator is that all kinds of, each grade fruit separation etc. guarantees, it is ensured that each grade fruit etc. accurately divides
Class.This step need to also realize that this step need to also be realized by human-computer interaction interface 8 by human-computer interaction interface 8, can also be by
External keyboard circuit and computer end host computer interface further realize, and external keyboard circuit and computer end host computer interface are equal
It is connected with master controller 7, external keyboard circuit can adjust in real time system operational parameters on machine, set to classification feature
It sets；Camera 10 is acquired into image transmitting to computer end host computer real-time display by network interface, can be obtained after being handled into software
Classification information, then computer end host computer generate digest information table.
The sorter based on RGB fruit classification method, including bottom plate 1, control cabinet 2, bracket 3, manipulator 4,
Fruit placement platform 5.Control cabinet 2, bracket 3, manipulator 4 and fruit placement platform 5 are installed on the upside of bottom plate 1, in control cabinet 2
Equipped with master controller 7, human-computer interaction interface 8 and power supply system 9.The bracket 3 is fixed on the side of fruit placement platform 5, branch
The upper end of frame 3 is equipped with camera 10 and RGB color identification sensor 11, camera 10 and RGB color identification sensor 11
In the surface of fruit placement platform 5.Manipulator 4 can rotate another phase that fruit placement platform 5 is distributed in free bend
Opposite side is also equipped with pressure sensor 12, pressure sensor 12, RGB color identification sensor 11, camera shooting at fruit placement platform 5
First 10, human-computer interaction interface 8, manipulator 4 and power supply system 9 are connect with master controller 7.
The bracket 3 includes the column 3a and horizontal arm section 3b that the upper end self-stabilised post 3a extends towards manipulator direction, horizontal arm
The end of portion 3b extends out to form one 3c of mounting plate, and the bottom of one 3c of mounting plate is identified equipped with the camera 10 and RGB color
Sensor 11.One 3d of diagonal brace, the upper end of column 3a and horizontal arm section are connected between the lower end two sides and bottom plate 1 of the column 3a
Two 3e of diagonal brace is connected between 3b.
The manipulator 4 includes the pedestal 4i of axis rotation along the vertical direction, and the bottom of pedestal 4i is equipped with driving pedestal
The stepper motor of 4i rotation, the upside pedestal 4i are fixed with the first connector 4a, and the upper end of the first connector 4a is hingedly connected with edge
Second connector 4b of the axis rotation of horizontal direction, the upper end of the second connector 4b is hingedly connected with axis in the horizontal direction
The third connector 4c of rotation, the upper end of third connector 4c are hingedly connected with the 4th connection of the rotation of axis in the horizontal direction
Part 4d, the second connector 4b, third connector 4c and the axis of the 4th connector 4d rotation are parallel to each other, the 4th connector 4d's
Upper end is fixed with two 4e of mounting plate, and two the gripping fingers 4f, the first connector 4a that can be opened and closed and are equipped on two 4e of mounting plate
Articulated position, the second connector 4b between two connector 4b and the articulated position between third connector 4c, third connector
It is mounted on two 4e of articulated position and mounting plate between 4c and the 4th connector 4d and respectively drives the second connector 4b,
The servo motor of three connector 4c and the 4th connector 4d rotation, stepper motor and servo motor are connected to master controller 2, main
Controller 7 controls stepping by the feedback signal of sensor (Tansducer For Color Distiguishing 11, pressure sensor 12) and camera 10
Motor, servo motor rotate forward, invert or stop, to realize the entire sort process of control manipulator 4.First connector
4a and the 4th connector 4d is U-shaped connector, and the opening of the first connector 4a and the 4th connector 4d are opposite, the second connector
4b is made of upper and lower two openings towards U-shaped connector opposite and interconnected, and third connector 4c is by upper and lower two phases
The square block to connect is constituted, and the U-shaped connector positioned at downside of the second connector 4b covers outside the first connector 4a, and third connects
Two square blocks up and down of fitting 4c are respectively fitted in the 4th connector 4d and the U-shaped company positioned at upside of the second connector 4b
In fitting.The one side installation of two 4e of mounting plate has intermeshing on two swing arm 4g there are two openable and closable swing arm 4g
The upper end of tooth 4h, each swing arm 4g be articulated and connected a gripping finger 4f, pass through between two 4e of middle part and mounting plate of each gripping finger 4f
Diagonal-bracing type connecting rod 4j articulated connection, the servo motor installed on two 4e of mounting plate are located at the another of opposed swing arms 4g on two 4e of mounting plate
The output shaft of one side and the servo motor is connect through two 4e of mounting plate with one of swing arm 4g.
The fruit placement platform 5 includes support column 5a and plate 5b, support column 5a be connected to bottom plate 1 and plate 5b it
Between, the pressure sensor is housed between support column 5a and plate 5b.
Power supply system 9 is divided for two parts, and the stepper motor and servo motor for controlling manipulator 4 are powered using direct current 24V, and
Master controller 7 is powered using adapter.Adapter exports 12V voltage, and the voltage regulator circuit pressure stabilizing through LM2940 is 5V to its master control
Device 7 processed and peripheral sensor (Tansducer For Color Distiguishing 11, pressure sensor 12) and camera 10 are powered, guarantee circuit stability and
Its element works normally.
The present invention collects the functions such as color identification, weight weighing, size measurement, target positioning and fruit separation, passes through RGB face
Color identification sensor collects fruit colouring information, and camera collection image realizes that the measurement of fruit size and target positioning, utilization are micro-
Controller (master controller) handles all kinds of external informations that sensing system provides, according to set algorithm drives step motor control
Manipulator separates target.On software by sensor, motor bottom layer driving based on, using operation and data processing as core,
It is separated and is applied with fruit grade, complete the set function of fruit separation system.It is easily operated, control cost, improve efficiency.
Combining most preferred embodiment above, invention has been described, but the invention is not limited to implementations disclosed above
Example, and various modifications, equivalent combinations according to the essence of the present invention should be covered.
Claims (10)
1. one kind is based on RGB fruit classification method, which is characterized in that step includes:
(1) detection of RGB ingredient
Fruit surface RGB ingredient is detected by RGB color identification sensor, detects fruit surface degree of staining, obtains image color
Value adds up stained area percentage with suitable hue value and carries out color grading；
(2) detection of fruit size
It include carrying out gray proces to image, taking appropriate threshold segmentation, morphology by pretreatment by camera collection image
Processing, edge detection, then by extracting image-region point, calculate image area, center of gravity, perimeter characteristic parameter；
(3) accurate positioning of target
It is flat with respect to fruit placement to calculate fruit by the extraction of edge detection and center of gravity calculation characteristic parameter according to step (2)
The position of platform, to be accurately positioned to fruit target；
(4) realization of sorting movement
It according to step (3), is run by manipulator to target position, fruit is carried out according to the result of step (1) and step (2)
Different grades of sorting.
2. being based on RGB fruit classification method as described in claim 1, it is characterised in that: the step (2) is also passed by pressure
Sensor measures fruit quality.
3. being based on RGB fruit classification method as claimed in claim 2, it is characterised in that: the RGB color identification sensor is adopted
With TCS3200D color sensor.
4. a kind of sorter as claimed in claim 2 based on RGB fruit classification method characterized by comprising bottom
Plate, control cabinet, bracket, manipulator, fruit placement platform, control cabinet, bracket, manipulator and fruit placement platform are installed in bottom
On the upside of plate, control cabinet is provided with master controller, human-computer interaction interface and power supply system, and bracket is fixed on the one of fruit placement platform
Side, the upper end of bracket are equipped with camera and RGB color identification sensor, and camera and RGB color identification sensor are located at water
The surface of fruit placement platform, manipulator can rotate another opposite side that fruit placement platform is distributed in free bend, water
Pressure sensor, pressure sensor, RGB color identification sensor, camera, human-computer interaction circle are also equipped at fruit placement platform
Face, manipulator and power supply system are connect with master controller.
5. the sorter as claimed in claim 4 based on RGB fruit classification method, it is characterised in that: the bracket includes
The horizontal arm section that column and self-stabilised post upper end extend towards manipulator direction, the end of horizontal arm section extend out to form mounting plate one, peace
The bottom of loading board one is equipped with the camera and RGB color identification sensor.
6. the sorter as claimed in claim 5 based on RGB fruit classification method, it is characterised in that: under the column
It is connected with diagonal brace one between end two sides and bottom plate, is connected with diagonal brace two between the upper end and horizontal arm section of column.
7. the sorter as claimed in claim 4 based on RGB fruit classification method, it is characterised in that: the fruit is placed
Platform includes support column and plate, and support column is connected between bottom plate and plate, and the pressure is housed between support column and plate
Sensor.
8. the sorter as claimed in claim 4 based on RGB fruit classification method, it is characterised in that: the machinery handbag
The pedestal of axis rotation along the vertical direction is included, equipped with the stepper motor of driving pedestal rotation, pedestal upside is solid for the bottom of pedestal
Surely there is the first connector, the upper end of the first connector is hingedly connected with the second connector of the rotation of axis in the horizontal direction, the
The upper end of two connectors is hingedly connected with the third connector of the rotation of axis in the horizontal direction, and the upper end of third connector is hinged
It is connected with the 4th connector of axis rotation in the horizontal direction, the second connector, third connector and the rotation of the 4th connector
Axis be parallel to each other, the upper end of the 4th connector is fixed with mounting plate two, and two for capable of opening and closing are equipped on mounting plate two
Gripping finger, articulated position, the second connector between the first connector and the second connector and the hinge position between third connector
It sets, be mounted on the articulated position between third connector and the 4th connector and mounting plate two and respectively drive the second connection
The servo motor of part, third connector and the rotation of the 4th connector, stepper motor and servo motor are connected to master controller.
9. the sorter as claimed in claim 8 based on RGB fruit classification method, it is characterised in that: first connection
Part and the 4th connector are U-shaped connectors, and the opening of the first connector and the 4th connector is opposite, and the second connector is by upper and lower
Two openings are constituted towards U-shaped connector opposite and interconnected, and third connector is by upper and lower two sides interconnected
Shape block is constituted, and the U-shaped connector positioned at downside of the second connector covers outside the first connector, and two up and down of third connector
Square block be respectively fitted in the 4th connector and the second connector in the U-shaped connector of upside.
10. the sorter as claimed in claim 8 based on RGB fruit classification method, it is characterised in that: the mounting plate two
One side installation there are two openable and closable swing arm, have intermeshing tooth, the upper end articulated connection of each swing arm in two swing arms
One gripping finger is articulated and connected by diagonal-bracing type connecting rod between the middle part and mounting plate two of each gripping finger, is installed on mounting plate two
Servo motor be located on mounting plate two output shaft of the another side of opposed swing arms and the servo motor through mounting plate two with
One of swing arm connection.
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| CN201811467709.7A CN109365323A (en) | 2018-12-03 | 2018-12-03 | One kind being based on RGB fruit classification method and sorter |
| CN2018114677097 | 2018-12-03 |
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| ES2785276B2 (en) * | 2019-04-01 | 2023-01-09 | Univ Huelva | SYSTEM AND PROCEDURE FOR THE AUTOMATIC ESTIMATION OF THE SIZE AND MASS OF OLIVES |
| CN110118775B (en) * | 2019-05-10 | 2021-11-19 | 重庆交通大学 | Method for rapidly detecting composition of plant-mixed cement stabilized macadam aggregate |
| CN113319013A (en) * | 2021-07-08 | 2021-08-31 | 陕西科技大学 | Apple intelligent sorting method based on machine vision |
| CN113680711B (en) * | 2021-10-27 | 2021-12-31 | 南通瑞隆农产品开发有限公司 | Agricultural product sorting method and system based on color gradation display card |
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