CN110385277A - A kind of apple sorting equipment and its method for sorting - Google Patents
A kind of apple sorting equipment and its method for sorting Download PDFInfo
- Publication number
- CN110385277A CN110385277A CN201910813952.8A CN201910813952A CN110385277A CN 110385277 A CN110385277 A CN 110385277A CN 201910813952 A CN201910813952 A CN 201910813952A CN 110385277 A CN110385277 A CN 110385277A
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- China
- Prior art keywords
- sorting
- apple
- conveyer belt
- pattern recognition
- recognition device
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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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
- B07C5/02—Measures preceding sorting, e.g. arranging articles in a stream orientating
-
- 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
- B07C5/34—Sorting according to other particular properties
- B07C5/342—Sorting according to other particular properties according to optical properties, e.g. colour
-
- 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
Abstract
The invention discloses a kind of apple sorting equipment and its method for sorting, including flexible feeding device, feed conveyor belt, sorting conveyer belt, pattern recognition device and mechanism for sorting, flexible feeding device is mounted in feed conveyor belt, feed conveyor belt is vertically mounted on sorting conveyer belt feed end and is higher than sorting conveyer belt, mechanism for sorting and pattern recognition device are mounted on sorting conveyer belt, and mechanism for sorting is located at after pattern recognition device.The present invention passes through flexible feeding device, it can will be in feed conveyor belt that apple is nondestructively added, pass through feed conveyor belt, apple separation is transmitted to sorting conveyer belt, the apple of each grade is obtained by the pattern recognition device identification on sorting conveyer belt, then send it to corresponding classification position and be sorted in respective utility box, realize the rapid sorting of apple grading, the apple size of classification is suitable, and color is close, and classification is accurate.
Description
Technical field
The present invention relates to a kind of apple sorting equipment and its method for sorting, belong to apple grading equipment technical field.
Background technique
In apple production base, orchard worker needs to sort different types of apple when picking apple, a large amount of
In the case of apple resource, orchard worker needs to put into a large amount of man power and material and carries out sorting screening to apple, and by manually sieving
Often there is certain subjective factor in choosing sorting, different sorting personnel may carry out different sorting modes to apple, finally
Cause apple sorting chaotic, it is not of uniform size, it is unfavorable for the sale of later period apple.
Summary of the invention
The technical problem to be solved by the present invention is a kind of apple sorting equipment and its method for sorting are provided, it is above-mentioned to solve
Problems of the prior art.
The technical scheme adopted by the invention is as follows: a kind of apple sorting equipment, including flexible feeding device, feed conveyor belt,
Sorting conveyer belt, pattern recognition device and mechanism for sorting, flexible feeding device are mounted in feed conveyor belt, and feed conveyor belt is hung down
It is directly mounted on sorting conveyer belt feed end and is higher than sorting conveyer belt, mechanism for sorting and pattern recognition device are mounted on sorting transmission
It takes, and mechanism for sorting is located at after pattern recognition device.
Preferably, above-mentioned flexible feeding device includes skewed slot, and skewed slot is fixedly connected on feed conveyor belt by support column
In rack, skewed slot discharge end is provided with the isolating bar of handstand V-shaped, and skewed slot inner surface is equipped with the elastical cloth bed of material.
Preferably, middle part is provided with the U-shaped groove for placing apple on the belt of above-mentioned sorting conveyer belt.
Preferably, above-mentioned pattern recognition device includes camera bellows, camera and light bar, and camera is mounted in camera bellows, can
Face apple is taken pictures, and light bar setting uses three primary light source in camera bellows two sides, light bar.
Preferably, above-mentioned mechanism for sorting includes multipair rotating vane and rotating electric machine, and rotating electric machine is fixed by motor rack
It is connected in the rack of sorting conveyer belt, rotating vane is fixedly connected on the motor shaft of rotating electric machine and is located at sorting conveyer belt
Middle part right above, rotating vane rotation after apple can be pushed in bowl-type classifier.
Preferably, sensor for countering is installed, sensor for countering is located at image recognition in the rack of above-mentioned sorting conveyer belt
Before device.
Preferably, dividing counting sensor is installed at above-mentioned each motor rack.
Preferably, above-mentioned feed conveyor belt, sorting conveyer belt, pattern recognition device and mechanism for sorting are connected to controller,
Controller is connected with sensor for countering and dividing counting sensor.
Preferably, above controller is connected to industrial personal computer, and industrial personal computer is connected to portable terminal by wireless module.
A kind of method for sorting of apple sorting equipment, method includes the following steps:
1) when detection device is in idle condition, feeding is detected whether by sensor for countering, if the non-feeding of constant testing, voice
Detection device can be prompted to be in idle prompt tone within broadcast device every 10 seconds, allow operator to prepare feeding, if after 3 minutes still
It is so feeding, system will be automatically closed；
2) when sensor for countering detects apple feeding, i.e., will prepare the sorting stage: in this stage, conveyer belt transports apple
To pattern recognition device, apple enters in pattern recognition device, and light bar and camera start to adopt apple progress image
Collection, light bar use three primary light source, more Apple image data can be obtained under different light sources, from multiple angles due to considering
Apple is that spherical and color is evenly distributed substantially so apple is detected and divided using single camera progress Image Acquisition
Class allows the variation of light bar light source can be synchronous with camera frequency acquisition, image information is finally transferred to industrial personal computer；
3) industrial personal computer is after getting image, and by image recognition program, (program is based on Baidu's artificial intelligence
The image recognition model of paddlepaddle platform building) apple identification classification is carried out, classification results are output in controller；
4) sorted apple is transported to corresponding sorting port by sorting conveyer belt, and dividing counting sensor detects corresponding informance
Afterwards, controller control sorting motor rotation, driving apple roll in utility box.
Beneficial effects of the present invention: compared with prior art, effect of the invention is as follows:
1) present invention is by flexible feeding device, can pass through charging transmission in feed conveyor belt that apple is nondestructively added
Apple separation is transmitted to sorting conveyer belt by band, obtains each grade by the pattern recognition device identification on sorting conveyer belt
Apple, then send it to corresponding classification position and be sorted in respective utility box, realize apple grading quickly point
It picks, the apple size of classification is suitable, and color is close, and classification is accurate；
2) using the structure of flexible feeding device, the lossless feeding and walkthrough that can be realized apple separate, and damage is avoided to cause point
Grade grade reduces；
3) U-shaped groove carries out corresponding identification, improves classification accuracy convenient for placing the apple of corresponding position, convenient for sorting and passes
It is defeated；
4) mechanism for sorting structure is simple, and sorting is quick；
5) sensor for countering and dividing counting sensor are installed, sorting total quantity is easy to implement and sort the statistics of dosis refracta；
6) present invention is controlled by controller, realizes the sort process of automation, is improved sorting efficiency and sorting accuracy, is reduced
Labor intensity.
Detailed description of the invention
Fig. 1 is schematic perspective view of the invention；
Fig. 2 is forward sight structural schematic diagram of the invention；
Fig. 3 is right side structural representation of the invention；
Fig. 4 is left view structural representation of the invention；
Fig. 5 is overlooking structure diagram of the invention；
Fig. 6 is that sorting equipment is connected to sorting conveyer belt structural schematic diagram.
Specific embodiment
With reference to the accompanying drawing and the present invention is described further in specific embodiment.
Embodiment 1: as shown in figs 1 to 6, a kind of apple sorting equipment, including flexible feeding device 1, feed conveyor belt 2,
Sorting conveyer belt 3, pattern recognition device 4 and mechanism for sorting 5, flexible feeding device 1 are mounted in feed conveyor belt 2, and charging passes
It send band 2 to be vertically mounted on 3 feed end of sorting conveyer belt and is higher than sorting conveyer belt 3, mechanism for sorting 5 and pattern recognition device 4 are pacified
On sorting conveyer belt 3, and mechanism for sorting 5 is located at after pattern recognition device 4.
Preferably, above-mentioned flexible feeding device 1 includes skewed slot 101, skewed slot 101 by support column 103 be fixedly connected on into
In the rack for expecting conveyer belt 2,101 discharge end of skewed slot is provided with the isolating bar 102 of handstand V-shaped, and 101 inner surface of skewed slot is equipped with
The elastical cloth bed of material.
Preferably, middle part is provided with the U-shaped groove 6 for placing apple on the belt of above-mentioned sorting conveyer belt 3.
Preferably, above-mentioned pattern recognition device 4 includes camera bellows 401, camera and light bar, and camera is mounted in camera bellows,
Can face apple take pictures, in camera bellows two sides, light bar uses three primary light source for light bar setting.
Preferably, above-mentioned mechanism for sorting 5 includes that multipair rotating vane 501 and rotating electric machine, rotating electric machine pass through motor rack
It is fixedly connected in the rack of sorting conveyer belt 3, rotating vane 501, which is fixedly connected on the motor shaft of rotating electric machine and is located at, to be divided
Right above the middle part for picking conveyer belt 3, rotating vane 501 can push apple in bowl-type classifier to after rotating.
Preferably, sensor for countering 7 is installed, sensor for countering 7 is located at image knowledge in the rack of above-mentioned sorting conveyer belt 3
Before other device 4.
Preferably, dividing counting sensor 8 is installed at above-mentioned each motor rack.
Preferably, the rack of above-mentioned feed conveyor belt 2 includes support frame and two rows of supporting legs, and two rows of supporting legs pass through rotation
Connector is connected to support frame bottom, and the tilt angle that can be realized feed conveyor belt is adjusted.
Preferably, above-mentioned feed conveyor belt 2, sorting conveyer belt 3, pattern recognition device 4 and mechanism for sorting 5 are connected to control
Device, controller are connected with sensor for countering 7 and dividing counting sensor 8.
Preferably, above controller is connected to industrial personal computer, and industrial personal computer is connected to portable terminal by wireless module.
Embodiment 2: a kind of method for sorting of apple sorting equipment, method includes the following steps:
1) when detection device is in idle condition, feeding is detected whether by sensor for countering, if the non-feeding of constant testing, voice
Detection device can be prompted to be in idle prompt tone within broadcast device every 10 seconds, allow operator to prepare feeding, if after 3 minutes still
It is so feeding, system will be automatically closed；
2) when sensor for countering detects apple feeding, i.e., will prepare the sorting stage: in this stage, conveyer belt transports apple
To pattern recognition device, apple enters in pattern recognition device, and light bar and camera start to carry out Image Acquisition, light bar to apple
Using three primary light source, more Apple image data can be obtained under different light sources, be from multiple angles due to considering apple
Spherical and color is evenly distributed substantially to be detected and is classified to apple so carrying out Image Acquisition using single camera, allows lamp
Band light source variation can be synchronous with camera frequency acquisition, and image information is finally transferred to industrial personal computer；
3) industrial personal computer is after getting image, and by image recognition program, (program is based on Baidu's artificial intelligence
The image recognition model of paddlepaddle platform building) apple identification classification is carried out, classification results are output in controller；
4) sorted apple is transported to corresponding sorting port by sorting conveyer belt, and dividing counting sensor detects corresponding informance
Afterwards, controller control sorting motor rotation, driving apple roll in utility box.
The Apache network server built by apple MC815 industrial personal computer establishes the relevant front and back end web, and open
Wifi hotspot constructs local area network, allows mobile phone terminal to access web terminal by connection wifi hotspot, since web terminal is apple MC815 work
Apple image data and sorting data visualization are intuitively checked detecting state convenient for operator by control machine.Apple MC815 industry control
Machine system is 18.04 system of Ubuntu-, which effectively supports image processing program and consistency operation is convenient.Apple MC815
The disaggregated model of industrial personal computer operation is trained from the work station for accelerating the 1080ti-GPU calculated to accelerate containing image.
Trained model is imported in apple MC815 industrial personal computer and is run, the time spent with the training of apple MC815 industrial personal computer is reduced,
And 1080ti-GPU can be obviously improved model training, and model is preserved after completing and imports apple MC815 industry control by training
In machine, finally by end command by model running.
PLC control module is to be interacted data and apple MC815 industrial personal computer by USB interface, open in web terminal
PLC control module api interface, is presented on mobile phone with button form, allows mobile phone terminal can be by web page effectively to entire transmission
Band is controlled.
The above description is merely a specific embodiment, but scope of protection of the present invention is not limited thereto, any
Those familiar with the art in the technical scope disclosed by the present invention, can easily think of the change or the replacement, and should all contain
Within protection scope of the present invention, therefore, protection scope of the present invention should be based on the protection scope of the described claims lid.
Claims (10)
1. a kind of apple sorting equipment, it is characterised in that: including flexible feeding device (1), feed conveyor belt (2), sorting transmission
Band (3), pattern recognition device (4) and mechanism for sorting (5), flexible feeding device (1) are mounted on feed conveyor belt (2), feed
Conveyer belt (2) is vertically mounted on sorting conveyer belt (3) feed end and is higher than sorting conveyer belt (3), and mechanism for sorting (5) and image are known
Other device (4) is mounted on sorting conveyer belt (3), and mechanism for sorting (5) is located at after pattern recognition device (4).
2. a kind of apple sorting equipment according to claim 1, it is characterised in that: flexible feeding device (1) includes skewed slot
(101), skewed slot (101) is fixedly connected in the rack of feed conveyor belt (2) by support column (103), skewed slot (101) discharge end
It is provided with the isolating bar (102) of handstand V-shaped, skewed slot (101) inner surface is equipped with the elastical cloth bed of material.
3. a kind of apple sorting equipment according to claim 1, it is characterised in that: on the belt of sorting conveyer belt (3)
Portion is provided with the U-shaped groove (6) for placing apple.
4. a kind of apple sorting equipment according to claim 1, it is characterised in that: pattern recognition device (4) includes camera bellows
(401), camera and light bar, camera are mounted in camera bellows, can face apple take pictures, light bar be arranged in camera bellows two sides, lamp
Band uses three primary light source.
5. a kind of apple sorting equipment according to claim 1, it is characterised in that: mechanism for sorting (5) includes multipair rotation
Blade (501) and rotating electric machine, rotating electric machine are fixedly connected in the rack of sorting conveyer belt (3) by motor rack, pivoting leaf
Piece (501) is fixedly connected on the motor shaft of rotating electric machine and is located at right above the middle part of sorting conveyer belt (3), rotating vane
(501) apple can be pushed in bowl-type classifier after rotating.
6. a kind of apple sorting equipment according to claim 1, it is characterised in that: pacify in the rack of sorting conveyer belt (3)
Equipped with sensor for countering (7), before sensor for countering (7) is located at pattern recognition device (4).
7. a kind of apple sorting equipment according to claim 5, it is characterised in that: be equipped with sorting meter at each motor rack
Number sensor (8).
8. a kind of apple sorting equipment according to claim 1, it is characterised in that: feed conveyor belt (2), sorting conveyer belt
(3), pattern recognition device (4) and mechanism for sorting (5) are connected to controller, and controller is connected with sensor for countering (7) and sorting
Sensor for countering (8).
9. a kind of apple sorting equipment according to claim 8, it is characterised in that: controller is connected to industrial personal computer, industry control
Machine is connected to portable terminal by wireless module.
10. the method for sorting of -9 any a kind of apple sorting equipments according to claim 1, it is characterised in that: this method
The following steps are included:
1) when detection device is in idle condition, feeding is detected whether by sensor for countering, if the non-feeding of constant testing, voice
Detection device can be prompted to be in idle prompt tone within broadcast device every 10 seconds, allow operator to prepare feeding, if after 3 minutes still
It is so feeding, system will be automatically closed；
2) when sensor for countering detects apple feeding, i.e., will prepare the sorting stage: in this stage, conveyer belt transports apple
To pattern recognition device, apple enters in pattern recognition device, and light bar and camera start to carry out Image Acquisition, light bar to apple
Using three primary light source, more Apple image data can be obtained under different light sources, use single camera from multiple angles
It carries out Image Acquisition apple is detected and classified, allows the variation of light bar light source can be synchronous with camera frequency acquisition, finally will
Image information is transferred to industrial personal computer；
3) industrial personal computer carries out apple identification classification by image recognition program, classification results is output to after getting image
In controller；
4) sorted apple is transported to corresponding sorting port by sorting conveyer belt, and dividing counting sensor detects corresponding informance
Afterwards, controller control sorting motor rotation, driving apple roll in utility box.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201910813952.8A CN110385277A (en) | 2019-08-30 | 2019-08-30 | A kind of apple sorting equipment and its method for sorting |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910813952.8A CN110385277A (en) | 2019-08-30 | 2019-08-30 | A kind of apple sorting equipment and its method for sorting |
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| CN201910813952.8A Pending CN110385277A (en) | 2019-08-30 | 2019-08-30 | A kind of apple sorting equipment and its method for sorting |
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| CN111285080A (en) * | 2020-02-27 | 2020-06-16 | 马天锐 | Cement building is with reposition of redundant personnel conveying system who cuts steel ring |
| CN111746873A (en) * | 2020-06-04 | 2020-10-09 | 三峡大学 | Machine suitable for crab feeding and arrangement and using method |
| CN113289913A (en) * | 2021-04-25 | 2021-08-24 | 扬州工业职业技术学院 | Automatic rapid sorting equipment for autonomous recognition |
| CN114887933A (en) * | 2022-06-02 | 2022-08-12 | 湖北生态工程职业技术学院 | Agricultural product collecting and sorting processing system and sorting method thereof |
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Application publication date: 20191029 |
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