CN110586502B - Green plum sorting device and sorting method - Google Patents
Green plum sorting device and sorting method Download PDFInfo
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- CN110586502B CN110586502B CN201911020420.5A CN201911020420A CN110586502B CN 110586502 B CN110586502 B CN 110586502B CN 201911020420 A CN201911020420 A CN 201911020420A CN 110586502 B CN110586502 B CN 110586502B
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- 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
- B07C5/24—Sorting according to weight using moving weighing mechanisms, e.g. moving along a circular path
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- 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
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- 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
- B07C5/363—Sorting apparatus characterised by the means used for distribution by means of air
- B07C5/365—Sorting apparatus characterised by the means used for distribution by means of air using a single separation means
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- 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
- B07C5/38—Collecting or arranging articles in groups
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- 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
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A40/00—Adaptation technologies in agriculture, forestry, livestock or agroalimentary production
- Y02A40/90—Adaptation technologies in agriculture, forestry, livestock or agroalimentary production in food processing or handling, e.g. food conservation
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Abstract
The invention discloses a green plum sorting device and a sorting method, wherein the sorting module comprises a first-stage sorting device, a second-stage sorting device, a camera and a conveyor belt, wherein the camera is positioned above the first-stage sorting device, the first-stage sorting device and the second-stage sorting device are both positioned above the conveyor belt, and the first-stage sorting device is positioned in front of the second-stage sorting device; the first-stage sorting device comprises four steering engines and four partition boards, and the second-stage sorting device comprises four steering engines and four partition boards; five classifying baffles are respectively arranged above the tail end of the conveyor belt, the planes above the tail end of the conveyor belt are quartered by the five classifying baffles to form four classifying channels, and the tail end of each classifying channel is provided with a fruit receiving basket. The green plum sorting machine can sort green plums based on quality and weight double standards, and provides a sorting basis for further carrying out fine and deep processing on the green plums.
Description
Technical Field
The invention belongs to the field of forest fruit sorting, and particularly relates to a green plum sorting device and a green plum sorting method.
Background
The green plums are taken as Chinese special fruits, and have rich resources and high nutritive value. With the development of economy, the capacity demand of the green plum in the market in China is continuously increased, and the contradiction between the increase of the green plum demand and the falling of the green plum industry capacity is increasingly deepened.
The traditional manual green plum sorting method has the problems of high cost, low efficiency, occupation of a large amount of labor force and the like.
By adopting the green plum sorting system based on machine vision, the green plum quality can be rapidly sorted by utilizing a spectrum technology and an image processing technology, so that the problems of low efficiency, low accuracy and high cost of manual detection of green plum defects can be overcome, and the method has important significance for the intellectualization of green plum enterprises and the sustainable development of the green plum industry.
Therefore, a green plum sorting device and a green plum sorting method based on machine vision are needed at present, and the green plum quality is rapidly sorted by combining a spectrum technology and an image processing technology, so that the traditional manual green plum sorting mode is replaced.
Disclosure of Invention
The green plum sorting device and the sorting method can sort green plums based on quality and weight double standards, and provide a sorting basis for further deep processing of the green plums, so that the economic value of the green plums is improved, the sorting efficiency is high, the accuracy is high, and the labor cost is low.
In order to achieve the technical purpose, the invention adopts the following technical scheme:
the green plum sorting device comprises a sorting module, wherein the sorting module comprises a first-stage sorting device, a second-stage sorting device, a camera and a conveyor belt, the camera is positioned above the first-stage sorting device, the first-stage sorting device and the second-stage sorting device are both positioned above the conveyor belt, and the first-stage sorting device is positioned in front of the second-stage sorting device;
the first-stage sorting device comprises four steering gears, namely a steering gear I, a steering gear II, a steering gear III and a steering gear IV, wherein the steering gear I is connected with a baffle I, the steering gear II is connected with a baffle II, the steering gear III is connected with a baffle III, the steering gear II and the steering gear III are positioned between the steering gear I and the steering gear IV, the opening directions of the baffle I and the baffle IV are opposite to the movement direction of the conveyor belt, the opening directions of the baffle II and the baffle III are the same as the movement direction of the conveyor belt, the baffle I and the baffle IV are connected with an air blowing device, a left baffle and a right baffle are respectively arranged above two sides of the front end of the conveyor belt, the front end of the left baffle is provided with a left fruit receiving basket, and the front end of the right baffle is provided with a right fruit receiving basket;
the second-stage sorting device comprises four steering gears, namely a steering gear five, a steering gear six, a steering gear seven and a steering gear eight, wherein the steering gear five is connected with a partition plate five, the steering gear six is connected with a partition plate six, the steering gear seven is connected with a partition plate seven, the steering gear eight is connected with a partition plate eight, the partition plate five, the partition plate six, the partition plate seven and the partition plate eight are the same in opening direction with the conveyor belt in moving direction, five grading partition plates are respectively arranged above the tail end of the conveyor belt, the five grading partition plates divide the plane above the tail end of the conveyor belt into four grading channels in a four-equal manner, and the tail end of each grading channel is provided with a fruit receiving basket.
As a further improved technical scheme of the invention, a steering engine I, a steering engine II, a steering engine III and a steering engine IV of the first-stage sorting device are all connected to a horizontal supporting plate I, and the camera, the horizontal supporting plate I, the left baffle plate and the right baffle plate are all supported above the conveyor belt through brackets.
As a further improved technical scheme of the invention, a steering engine five, a steering engine six, a steering engine seven and a steering engine eight of the second-stage classifying device are all connected to a horizontal support plate II, and the horizontal support plate II and the five classifying baffles are all supported above the conveyor belt through brackets.
As a further improved technical scheme of the invention, the first-stage sorting device further comprises a partition plate nine and a partition plate ten, wherein the partition plate nine is positioned in front of the partition plate II, the partition plate ten is positioned in front of the partition plate III, and the partition plate nine and the partition plate ten are supported above the conveyor belt through brackets.
As a further improved technical scheme of the invention, the intelligent air blower further comprises a lower computer, wherein the camera is electrically connected with the lower computer, the lower computer is electrically connected with a control valve, a steering engine I, a steering engine II, a steering engine III, a steering engine IV, a steering engine five, a steering engine six, a steering engine seven and a steering engine eight in the two air blowing devices respectively, and the lower computer is electrically connected with an upper computer.
As a further improved technical scheme of the invention, the green plum sorting device further comprises a weighing conveyor belt, wherein the weighing conveyor belt is used for weighing each green plum and sending the quality information of the green plums to an upper computer, and the weighing conveyor belt is also used for conveying each weighed green plum to the conveyor belt in the sorting module.
In order to achieve the technical purpose, the invention adopts another technical scheme that:
a green plum sorting method comprises a green plum defect detection method and an upper computer control method;
the green plum defect detection method comprises the following steps:
(1) Dividing a three-channel color image acquired by a camera into R, G, B single-channel monochromatic images, converting the three monochromatic images into HSV color space, extracting S-channel components of the converted image, gaussian filtering, extracting features, and extracting green plums from an original image after segmentation;
(2) Extracting a defect image from a single-channel gray image of the green plum by a threshold segmentation method according to the gray value difference of the surface defect characteristics of the green plum;
(3) Six characteristic parameters of the defect image are extracted: r, G, B color component value, defect roundness, rectangularity, and compactedness;
(4) Establishing a Gaussian mixture model according to six characteristic parameters of the defect image sample;
(5) Six characteristic parameters in the defect image to be detected are input into a Gaussian mixture model for matching, so that defect identification and classification are completed;
the upper computer control method comprises the following steps:
(a) The upper computer receives the quality information of each green plum uploaded by the weighing conveyor belt;
(b) When green plums enter the first-stage sorting device through a conveyor belt, a camera works and sends images to a lower computer, and the lower computer sequentially carries out defect identification and classification on the green plums according to a green plum defect detection method and positions the green plums in the images;
(c) The lower computer transmits the defect identification classification result and the positioning information to the upper computer;
(d) The upper computer marks the defect identification classification result and the positioning information as labels on each corresponding green plum with weight information;
(e) The upper computer transmits the defect identification and classification result, the positioning information and the weight information of each green plum to the lower computer, and the lower computer controls the steering engine I or the steering engine IV according to the positioning information and the movement speed of the conveyor belt which are downwards placed by the upper computer, so as to control the direction of the air blowing device to blow the green plum with defects to the left fruit receiving basket or the right fruit receiving basket on the two sides of the conveyor belt;
(f) The lower computer controls the steering engine II and the steering engine III according to the weight information of the green plums which are put down by the upper computer, and further controls the baffle II and the baffle III to turn respectively so as to adjust the conveying direction of the green plums without defects on the conveyor belt, and the green plums are conveyed into the second-stage sorting device under the driving of the conveyor belt;
(g) The lower computer controls two adjacent steering engines in the second sorting device to work according to the weight information of green plums which are put down by the upper computer, and then controls two separators in the fifth separator, the sixth separator, the seventh separator and the eighth separator to turn and ensure that the directions of the two separators are consistent with the directions of the second separator and the third separator, and the green plums pass through the two separators and enter a certain sorting channel under the conveying of the conveying belt and finally fall into fruit receiving baskets corresponding to the tail ends of the sorting channel.
The beneficial effects of the invention are as follows:
(1) The green plums are sorted from two standards of green plums, namely quality and weight by utilizing machine vision and machine learning, and certain characteristics are not singly sorted; the separation efficiency is high, the accuracy is high, and the labor cost is low; the method provides a separation basis for further carrying out fine and deep processing on the green plums, thereby improving the economic value of the green plums, and having important significance for the intellectualization of green plum enterprises and the sustainable development of the green plum industry.
(2) The first-stage sorting device is combined with the variable-angle air blowing device, so that the green plums with ulcers and the green plums with scars can be removed from multiple angles horizontally.
(3) According to the invention, the quality and weight information of each green plum are marked by utilizing machine vision and machine learning, so that the weight information of each green plum can be accurately determined after the green plums with defect characteristics are removed, and the green plums which can be deeply processed are subjected to secondary sorting according to the weight information.
Drawings
Fig. 1 is a schematic structural diagram of a sorting module according to the present embodiment.
Fig. 2 is a top view of the sorting module according to the present embodiment.
Fig. 3 is a schematic structural diagram of the sorting module according to the present embodiment during operation.
Fig. 4 is a top view of the sorting module according to the present embodiment in operation.
Fig. 5 is a schematic structural diagram of the weighing conveyer belt and the sorting module according to the embodiment.
Fig. 6 is a schematic structural view of the weighing conveyer belt of the present embodiment.
Fig. 7 is a schematic view of the structure of a weighing module in the weighing conveyer belt of the present embodiment.
Fig. 8 is a sectional view of a weighing module in the weighing conveyer belt of the present embodiment.
Detailed Description
The following further describes embodiments of the present invention with reference to fig. 1 to 8:
the green plum sorting device comprises a sorting module B, as shown in fig. 1, wherein the sorting module B comprises a first-stage sorting device 7, a second-stage sorting device 8, a camera 1 and a conveyor belt 4, the camera 1 is positioned above the first-stage sorting device 7, the first-stage sorting device 7 and the second-stage sorting device 8 are both positioned above the conveyor belt 4, and the first-stage sorting device 7 is positioned in front of the second-stage sorting device 8;
the first-stage sorting device 7 comprises four steering gears, as shown in FIG. 2, namely a steering gear I7-12, a steering gear II 7-8, a steering gear III 7-5 and a steering gear IV 7-1, wherein the steering gear I7-12 is connected with a baffle I7-11, the steering gear II 7-8 is connected with a baffle II 7-9, the steering gear III 7-5 is connected with a baffle III 7-4, and the steering gear IV 7-1 is connected with a baffle IV 7-2. The steering engine two 7-8 and the steering engine three 7-5 are positioned between the steering engine one 7-12 and the steering engine four 7-1, the opening directions of the baffle one 7-11 and the baffle four 7-2 are opposite to the movement direction of the conveyor belt 4, the opening directions of the baffle two 7-9 and the baffle three 7-4 are the same as the movement direction of the conveyor belt 4, the end parts of the baffle one 7-11 and the baffle four 7-2 are connected with air blowing devices (the air blowing devices one 7-10 and the air blowing device two 7-3 respectively), a left baffle 3 and a right baffle 5 (shown in figure 1) are arranged above two sides of the front end of the conveyor belt 4 respectively, the front end of the left baffle 3 is provided with a left fruit receiving basket 2, and the front end of the right baffle 5 is provided with a right fruit receiving basket 6.
The second-stage sorting device 8 comprises four steering gears, as shown in fig. 2, which are respectively a steering gear five 8-3, a steering gear six 8-5, a steering gear seven 8-7 and a steering gear eight 8-9, wherein the steering gear five 8-3 is connected with a partition plate five 8-2, the steering gear six 8-5 is connected with a partition plate six 8-4, the steering gear seven 8-7 is connected with a partition plate seven 8-6, the steering gear eight 8-9 is connected with a partition plate eight 8-8, the opening orientations of the partition plate five 8-2, the partition plate six 8-4, the partition plate seven 8-6 and the partition plate eight 8-8 are the same as the movement direction of the conveyor belt 4, five grading partition plates 9 are respectively arranged above the tail end of the conveyor belt 4, the five grading partition plates 9 divide the plane above the tail end of the conveyor belt 4 into four grading channels 10, and the tail end of each grading channel 10 is provided with a fruit basket 11.
As shown in fig. 2, the first steering engine 7-12, the second steering engine 7-8, the third steering engine 7-5 and the fourth steering engine 7-1 of the first stage sorting device 7 are all connected to the first horizontal support plate 7-13, and the camera 1, the first horizontal support plate 7-13, the left partition plate 3 and the right partition plate 5 are all supported above the conveyor belt 4 through brackets (not shown in the figure).
As shown in FIG. 2, the fifth steering engine 8-3, the sixth steering engine 8-5, the seventh steering engine 8-7 and the eighth steering engine 8-9 of the second stage classifying device 8 are all connected to the second horizontal support plate 8-1, and the second horizontal support plate 8-1 and the fifth stage classifying separator 9 are all supported above the conveyor belt 4 by brackets (not shown in the figure).
As shown in fig. 2, the first-stage sorting device 7 further comprises a partition plate nine 7-7 and a partition plate ten 7-6, wherein the partition plate nine 7-7 is positioned in front of the partition plate two 7-9, the partition plate ten 7-6 is positioned in front of the partition plate three 7-4, and the partition plate nine 7-7 and the partition plate ten 7-6 are supported above the conveying belt 4 through brackets.
The embodiment further comprises a lower computer, wherein the camera 1 is electrically connected with the lower computer, the lower computer is electrically connected with control valves in two air blowing devices (the first air blowing device 7-10 and the second air blowing device 7-3 respectively), the first steering engine 7-12, the second steering engine 7-8, the third steering engine 7-5, the fourth steering engine 7-1, the fifth steering engine 8-3, the sixth steering engine 8-5, the seventh steering engine 8-7 and the eighth steering engine 8-9 respectively, and the lower computer is electrically connected with the upper computer. The lower computer controls the control valves in the two air blowing devices to be opened and closed so as to control the two air blowing devices to work.
As shown in fig. 5, the embodiment further includes a weighing conveyor a, where the weighing conveyor a is used to weigh each green plum and send the quality information of the green plums to the host computer, and the weighing conveyor a is further used to transfer each weighed green plum to the conveyor 4 in the sorting module B.
As shown in fig. 6, the weighing conveyer a of the present embodiment includes a conveyer device 12 and weighing modules, and a plurality of weighing modules are fixedly connected to the conveyer of the conveyer device 12. As shown in fig. 7 and 8, the weighing module comprises a carrying table 14, a movable block 18, a sleeve 13, a sleeve shaft 19, a spring 20 and a force sensor 16, wherein the movable block 18 is connected to both sides of the carrying table 14, the bottom of the movable block 18 is connected to the top of the sleeve shaft 19, the sleeve shaft 19 is sleeved inside the sleeve 13 and can slide up and down in the sleeve 13, the bottom of the sleeve 13 is connected to the force sensor 16, the spring 20 is positioned inside the sleeve 13, the top of the spring 20 is connected to the bottom of the sleeve shaft 19, and the bottom of the spring 20 is connected to the force sensor 16.
The two force sensors 16 of the weighing module of this embodiment are fixedly connected to the conveyor belt of the conveyor belt arrangement 12. The plurality of weighing modules in this embodiment are uniformly arranged in the length direction of the conveyor belt 4. The middle part of the upper surface of the object stage 14 in this embodiment is provided with a spherical pit 17, the spherical pit 17 is used for loading green plums, and each weighing module weighs one green plum at a time. One side of the conveyor belt assembly 12 in this embodiment is provided with a guide plate 15. The conveyor means 12 of the weighing conveyor a of this embodiment adopts a conveyor structure commonly used in the art.
The green plums of this embodiment enter into weighing device, and weighing device can weigh the weight of 5 green plums simultaneously once only. During weighing, a plurality of green plums enter the weighing module from the side with the force sensor of the weighing device at the same time, the objective table 14 is a plane with a spherical pit 17 in the middle, and the green plums are positioned in the spherical pit 17 during weighing. Before each weighing, the values of the two force sensors 16 are cleared (the weights of the object stage 14, the movable block 18, the sleeve shaft 19 and the spring 20 are cleared), when green plums fall on the spherical concave pits 17, the sleeve shaft 19 presses the spring 20 under the action of gravity, the spring 20 presses the force sensors 16, the force sensors 16 feed back the force when the spring 20 is stable, and the sum of the readings of the force sensors 16 at the two sides of one object stage 14 is the weight of the green plums. The force sensor 16 sends weight information to the upper computer, and the weighed green plums are conveyed along the conveyor belt 4 and finally enter the conveyor belt 4 of the green plum sorting device along the guide plate 15.
The green plums after weighing fall into the green plums sorting device, and the green plums can be classified into four types of perfect green plums, rain spots, festers and scars according to the defect characteristics of the green plums, wherein the perfect green plums and the green plums with the rain spots are regarded as the green plums which can be processed deeply (namely, the green plums with the festers and the scars are regarded as the defective green plums), and the green plums are classified into two types of quality and weight. The sorting module B is provided with two-stage sorting, the first-stage sorting device 7 sorts the quality into three categories of fester, scars and deep-processing (including rain spots and perfect green plums), wherein the fester and the scars are all regarded as defective green plums, and the perfect green plums and the green plums with rain spots are regarded as deep-processing green plums (namely, all regarded as non-defective green plums); the second-stage sorting device 8 sorts the weight of the dark plum which can be finely processed into four weight sections. The camera 1 of the present embodiment is used for photographing green plums. When the green plum sorting device works, green plums enter from a conveyor belt 4 at one side provided with a camera 1 according to a weighing sequence, the camera 1 shoots the green plums in real time and sends images to a lower computer, the lower computer carries out quality detection, an air blowing device arranged on a first partition plate 7-11 and a fourth partition plate 7-2 of a first stage sorting device 7 blows detected green plums (commonly called defective green plums) with fester and scars into a left fruit receiving basket 2 and a right fruit receiving basket 6 at two sides of the conveyor belt 4 along a left partition plate 3 and a right partition plate 5 which are mutually angled on the conveyor belt 4, meanwhile, a second partition plate 7-9 and a third partition plate 7-4 in the middle of the first stage sorting device 7 turn (as shown in fig. 3 and 4) to turn to one of four quality intervals corresponding to a second stage sorting device 8, and the second stage sorting device 8 turns to two partition plates closest to the weight interval. Whereby the green plums of this weight are fed into the classifying channels 10 between the corresponding classifying baffles 9 and fall into the fruit basket 11 corresponding to the end of the classifying baffles 9. In the embodiment, the weight of green plums is divided into four ranges, the weights of the four different ranges correspond to different fruit receiving baskets 11, and a lower computer controls corresponding steering engines to work through the weight information of the green plums, so that the green plums are conveyed into the fruit receiving baskets 11 in the corresponding weight intervals.
The embodiment also provides a green plum sorting method, which comprises a green plum defect detection method and an upper computer control method.
The green plum defect detection method comprises the following steps:
(1) The lower computer divides the three-channel color image acquired by the camera 1 into R, G, B single-channel monochromatic images, converts the three monochromatic images into HSV color space, and extracts green plums from the original image after S-channel component extraction, gaussian filtering, feature extraction and segmentation of the converted image;
(2) Extracting a defect image from a single-channel gray image of the green plum by a threshold segmentation method according to the gray value difference of the surface defect characteristics of the green plum;
(3) Six characteristic parameters of the defect image are extracted: r, G, B color component value, defect roundness, rectangularity, and compactedness;
(4) Establishing a Gaussian mixture model according to six characteristic parameters of the defect image sample;
(5) Six characteristic parameters in the defect image to be detected are input into a Gaussian mixture model for matching, so that defect identification and classification are completed;
the upper computer control method comprises the following steps:
(a) The upper computer receives the quality information of each green plum uploaded by the force sensor 16 on the weighing conveyor belt A, marks each green plum according to the weight information and stores the green plum in the storage space of the upper computer;
(b) When green plums enter the first-stage sorting device 7 through the conveyor belt 4, the camera 1 works and sends images to the lower computer, and the lower computer sequentially carries out defect identification and classification on the green plums according to a green plum defect detection method and positions the green plums in the images (the positioning method is the prior art);
(c) The lower computer transmits the defect identification and classification result (ulceration, scar and fine processing) and positioning information to the upper computer;
(d) The upper computer marks the defect identification classification result (ulceration, scar and fine processing) and positioning information as labels on each corresponding green plum with weight information, wherein each green plum at the moment has three types of information of weight, classification result and positioning;
(e) The upper computer transmits the defect identification and classification result, positioning information and weight information of each green plum to the lower computer, and the lower computer controls the steering engine I7-12 or steering engine IV 7-1 according to the positioning information and the movement speed of the conveyor belt 4, so as to control the direction of the air blowing device (the direction is selected as the optimal position of the two air blowing devices selected according to the position of the green plum needing air blowing), and air-blows the green plum with defects (namely the green plum with fester and scars) (the two air blowing devices do not work at the same time to prevent interference), and blow the green plum to the left fruit receiving basket 2 or the right fruit receiving basket 6 on the two sides of the conveyor belt 4;
(f) The lower computer controls the steering engine II 7-8 and the steering engine III 7-5 according to the weight information of green plums put down by the upper computer while blowing, and further controls the steering of the partition boards II 7-9 and the partition boards III 7-4 respectively so as to adjust the conveying direction of the green plums without defects (i.e. the green plums which can be processed deeply) on the conveyor belt 4, and the green plums are conveyed into the second sorting device 8 under the driving of the conveyor belt 4;
(g) The lower computer controls two adjacent steering engines in the second sorting device 8 to work according to the weight information of green plums which are put down by the upper computer, and then controls the two clapboards five 8-2, six 8-4, seven 8-6 and eight 8-8 to turn and ensure that the direction of the two clapboards is consistent with the direction of the two clapboards 7-9 and the three clapboards 7-4, and the green plums pass through the two clapboards and enter a certain sorting channel 10 under the conveying of the conveying belt 4 and finally fall into a fruit basket 11 corresponding to the tail end of the sorting channel 10.
Specifically, the present embodiment can be classified into ulcer, scar, etc. according to the surface defect characteristics of green plums. The maximum difference between the defect part and the normal surface is that the surface color is different, the defect part is mostly brown or even black, the gray value of the defect part can be deduced to be lower, the gray value of the normal surface is higher, and the defect is extracted from the single-channel gray image through threshold segmentation by utilizing the difference.
In this embodiment, after performing operations such as channel decomposition and gray level binarization on the green plum image, it is found that after the image of six color channels (R, G, B, H, S, V) of the green plum fruit is thresholded, because the shape, size, color and other features of each defect are different, it is difficult to extract the defect from the thresholded image by adopting a uniform extraction standard, which complicates the green plum defect detection work.
In the embodiment, the edge detection method is adopted to detect the edge of the green plum fruit and expand several times to be used as a mask area, and the area covered by the mask is removed from the image after the H channel threshold segmentation, so that a defect area is left. Performing defect detection on green plums containing festers and scars by adopting an edge method, wherein the area of the fester defect is larger, and the proportion of the fester defect to the total area of fruits is larger; the rain spots are mostly spots (the green plums with rain spots detected in this example are also regarded as deep-processable green plums), and the number of isolated spots is large and the occupied area is small. In addition, the color of the fruit corresponding to the fester, the scar and the rain spot is different from the color of the fruit corresponding to the color map.
The Gaussian Mixture Model (GMM) classification process is: the following 6 features are extracted to build the gaussian mixture model in this embodiment. By comparing three defects of green plum fruits, the color of the pericarp corresponding to each defect is different, and the shape, the size and the characteristics are also different, so that six characteristic parameters of R, G, B color component values, defect roundness, rectangle degree and compactness of the green plum fruits are determined to be adopted as input signals of a Gaussian mixture model, and output signals are 'fester', 'scars', 'rain spots' and 'good' green plums.
The detection accuracy of the green plums with the defect of ulceration is 100%, the detection accuracy of the green plums with the scar defects is 97.22%, the detection accuracy of the green plums with the defect of rain spots is 92.31%, and the detection accuracy of the intact green plums is 94.44%.
The scope of the present invention includes, but is not limited to, the above embodiments, and any alterations, modifications, and improvements made by those skilled in the art are intended to fall within the scope of the invention.
Claims (7)
1. The utility model provides a green plum sorting unit which characterized in that: the device comprises a sorting module, wherein the sorting module comprises a first-stage sorting device, a second-stage sorting device, a camera and a conveyor belt, the camera is positioned above the first-stage sorting device, the first-stage sorting device and the second-stage sorting device are both positioned above the conveyor belt, and the first-stage sorting device is positioned in front of the second-stage sorting device;
the first-stage sorting device comprises four steering gears, namely a steering gear I, a steering gear II, a steering gear III and a steering gear IV, wherein the steering gear I is connected with a baffle I, the steering gear II is connected with a baffle II, the steering gear III is connected with a baffle III, the steering gear II and the steering gear III are positioned between the steering gear I and the steering gear IV, the opening directions of the baffle I and the baffle IV are opposite to the movement direction of the conveyor belt, the opening directions of the baffle II and the baffle III are the same as the movement direction of the conveyor belt, the baffle I and the baffle IV are connected with an air blowing device, a left baffle and a right baffle are respectively arranged above two sides of the front end of the conveyor belt, the front end of the left baffle is provided with a left fruit receiving basket, and the front end of the right baffle is provided with a right fruit receiving basket;
the second-stage sorting device comprises four steering gears, namely a steering gear five, a steering gear six, a steering gear seven and a steering gear eight, wherein the steering gear five is connected with a partition plate five, the steering gear six is connected with a partition plate six, the steering gear seven is connected with a partition plate seven, the steering gear eight is connected with a partition plate eight, the partition plate five, the partition plate six, the partition plate seven and the partition plate eight are the same in opening direction with the conveyor belt in moving direction, five grading partition plates are respectively arranged above the tail end of the conveyor belt, the five grading partition plates divide the plane above the tail end of the conveyor belt into four grading channels in a four-equal manner, and the tail end of each grading channel is provided with a fruit receiving basket.
2. The green plum sorting apparatus according to claim 1, wherein: the first-stage sorting device is characterized in that a steering engine I, a steering engine II, a steering engine III and a steering engine IV are all connected to a horizontal supporting plate I, and the camera, the horizontal supporting plate I, a left baffle and a right baffle are all supported above a conveyor belt through brackets.
3. The green plum sorting apparatus according to claim 2, wherein: the steering engine five, the steering engine six, the steering engine seven and the steering engine eight of the second-stage sorting device are all connected to the horizontal support plate II, and the horizontal support plate II and the five stage separation plates are all supported above the conveyor belt through brackets.
4. A green plum sorting apparatus according to claim 3, wherein: the first-stage sorting device further comprises a partition plate nine and a partition plate ten, the partition plate nine is located in front of the partition plate two, the partition plate ten is located in front of the partition plate three, and the partition plate nine and the partition plate ten are supported above the conveying belt through brackets.
5. The green plum sorting apparatus according to claim 1, wherein: the camera is electrically connected with a lower computer, the lower computer is electrically connected with a control valve, a first steering engine, a second steering engine, a third steering engine, a fourth steering engine, a fifth steering engine, a sixth steering engine, a seventh steering engine and an eighth steering engine in the two air blowing devices respectively, and the lower computer is electrically connected with an upper computer.
6. The green plum sorting apparatus according to claim 5, wherein: the green plum sorting device comprises a sorting module, and is characterized by further comprising a weighing conveyor belt, wherein the weighing conveyor belt is used for weighing each green plum and sending the quality information of the green plums to an upper computer, and the weighing conveyor belt is also used for conveying each weighed green plum to the conveyor belt in the sorting module.
7. A green plum sorting method, characterized in that the green plum sorting apparatus according to claim 6 is used, the green plum sorting method comprising a green plum defect detection method and an upper computer control method;
the green plum defect detection method comprises the following steps:
(1) Dividing a three-channel color image acquired by a camera into R, G, B single-channel monochromatic images, converting the three monochromatic images into HSV color space, extracting S-channel components of the converted image, gaussian filtering, extracting features, and extracting green plums from an original image after segmentation;
(2) Extracting a defect image from a single-channel gray image of the green plum by a threshold segmentation method according to the gray value difference of the surface defect characteristics of the green plum;
(3) Six characteristic parameters of the defect image are extracted: r, G, B color component value, defect roundness, rectangularity, and compactedness;
(4) Establishing a Gaussian mixture model according to six characteristic parameters of the defect image sample;
(5) Six characteristic parameters in the defect image to be detected are input into a Gaussian mixture model for matching, so that defect identification and classification are completed;
the upper computer control method comprises the following steps:
(a) The upper computer receives the quality information of each green plum uploaded by the weighing conveyor belt;
(b) When green plums enter the first-stage sorting device through a conveyor belt, a camera works and sends images to a lower computer, and the lower computer sequentially carries out defect identification and classification on the green plums according to a green plum defect detection method and positions the green plums in the images;
(c) The lower computer transmits the defect identification classification result and the positioning information to the upper computer;
(d) The upper computer marks the defect identification classification result and the positioning information as labels on each corresponding green plum with weight information;
(e) The upper computer transmits the defect identification and classification result, the positioning information and the weight information of each green plum to the lower computer, and the lower computer controls the steering engine I or the steering engine IV according to the positioning information and the movement speed of the conveyor belt which are downwards placed by the upper computer, so as to control the direction of the air blowing device to blow the green plum with defects to the left fruit receiving basket or the right fruit receiving basket on the two sides of the conveyor belt;
(f) The lower computer controls the steering engine II and the steering engine III according to the weight information of the green plums which are put down by the upper computer, and further controls the baffle II and the baffle III to turn respectively so as to adjust the conveying direction of the green plums without defects on the conveyor belt, and the green plums are conveyed into the second-stage sorting device under the driving of the conveyor belt;
(g) The lower computer controls two adjacent steering engines in the second sorting device to work according to the weight information of green plums which are put down by the upper computer, and then controls two separators in the fifth separator, the sixth separator, the seventh separator and the eighth separator to turn and ensure that the directions of the two separators are consistent with the directions of the second separator and the third separator, and the green plums pass through the two separators and enter a certain sorting channel under the conveying of the conveying belt and finally fall into fruit receiving baskets corresponding to the tail ends of the sorting channel.
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| CN111337513B (en) * | 2020-04-08 | 2021-03-23 | 南京林业大学 | All-round collection system of green plum fruit surface image |
| CN112657862B (en) * | 2021-01-23 | 2021-08-10 | 郑州科技学院 | Industrial robot |
| CN113145497B (en) * | 2021-04-20 | 2022-08-26 | 清远职业技术学院 | Surface defect detection device based on machine vision |
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