CN111595852A - Shadowless LED light source system device for visual inspection of fruits and vegetables - Google Patents

Shadowless LED light source system device for visual inspection of fruits and vegetables Download PDF

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Publication number
CN111595852A
CN111595852A CN202010471268.9A CN202010471268A CN111595852A CN 111595852 A CN111595852 A CN 111595852A CN 202010471268 A CN202010471268 A CN 202010471268A CN 111595852 A CN111595852 A CN 111595852A
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lamp holder
light source
camera
lamp
led light
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CN202010471268.9A
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CN111595852B (en
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朱二
朱壹
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Lvmeng Technology Co ltd
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Jiangxi Reemoon Technology Holdings Co Ltd
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
    • G01N21/84—Systems specially adapted for particular applications
    • G01N21/88—Investigating the presence of flaws or contamination
    • G01N21/8806—Specially adapted optical and illumination features
    • G—PHYSICS
    • G03—PHOTOGRAPHY; CINEMATOGRAPHY; ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ELECTROGRAPHY; HOLOGRAPHY
    • G03B—APPARATUS OR ARRANGEMENTS FOR TAKING PHOTOGRAPHS OR FOR PROJECTING OR VIEWING THEM; APPARATUS OR ARRANGEMENTS EMPLOYING ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ACCESSORIES THEREFOR
    • G03B15/00—Special procedures for taking photographs; Apparatus therefor
    • G03B15/02—Illuminating scene
    • G03B15/03—Combinations of cameras with lighting apparatus; Flash units
    • G03B15/05—Combinations of cameras with electronic flash apparatus; Electronic flash units
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
    • G01N21/84—Systems specially adapted for particular applications
    • G01N2021/8466—Investigation of vegetal material, e.g. leaves, plants, fruits
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
    • G01N21/84—Systems specially adapted for particular applications
    • G01N21/88—Investigating the presence of flaws or contamination
    • G01N21/8806—Specially adapted optical and illumination features
    • G01N2021/8835—Adjustable illumination, e.g. software adjustable screen
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N2201/00—Features of devices classified in G01N21/00
    • G01N2201/04—Batch operation; multisample devices
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N2201/00—Features of devices classified in G01N21/00
    • G01N2201/06—Illumination; Optics
    • G01N2201/061—Sources
    • G01N2201/06146—Multisources for homogeneisation, as well sequential as simultaneous operation
    • G01N2201/06153—Multisources for homogeneisation, as well sequential as simultaneous operation the sources being LED's
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N2201/00—Features of devices classified in G01N21/00
    • G01N2201/06—Illumination; Optics
    • G01N2201/063—Illuminating optical parts
    • G01N2201/0636—Reflectors
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N2201/00—Features of devices classified in G01N21/00
    • G01N2201/06—Illumination; Optics
    • G01N2201/063—Illuminating optical parts
    • G01N2201/0638—Refractive parts
    • 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
    • Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
    • Y02P60/00—Technologies relating to agriculture, livestock or agroalimentary industries
    • Y02P60/14—Measures for saving energy, e.g. in green houses

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  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Chemical & Material Sciences (AREA)
  • Analytical Chemistry (AREA)
  • Biochemistry (AREA)
  • General Health & Medical Sciences (AREA)
  • Immunology (AREA)
  • Pathology (AREA)
  • Investigating Materials By The Use Of Optical Means Adapted For Particular Applications (AREA)

Abstract

The invention relates to a fruit and vegetable visual inspection shadowless LED light source system device, which comprises a conveying system, a visual inspection system, a light source system and a reflection system, wherein the conveying system comprises a channel conveying device, the visual inspection system comprises a camera, the light source system comprises an LED light source device, the reflection system comprises an arc reflector, the LED light source device is arranged on two sides of the channel conveying device, the LED light source device comprises a lamp holder with LED lamp beads on the surface and a lamp holder fixing device, the lamp holder is arranged on the lamp holder fixing device, and the two sides of the lamp holder fixing device are provided with reflection surfaces facing the channel conveying device; the system device can form uniform illumination areas on the surfaces of the fruits and vegetables to be detected, can well avoid the problem of image quality caused by nonuniform illumination, and improves the detection capability.

Description

Shadowless LED light source system device for visual inspection of fruits and vegetables
Technical Field
The invention belongs to the technical field of visual detection, and particularly relates to a shadowless LED light source system device for visual detection of fruits and vegetables.
Background
Visual inspection is to use a robot to replace human eyes for measurement and judgment. The visual detection means that a machine vision product (namely an image shooting device which is divided into a CMOS (complementary metal oxide semiconductor) product and a CCD (charge coupled device) product) converts a shot target into an image signal, transmits the image signal to a special image processing system, and converts the image signal into a digital signal according to information such as pixel distribution, brightness, color and the like; the image system performs various calculations on these signals to extract the features of the target, and then controls the operation of the on-site equipment according to the result of the discrimination. Is a valuable mechanism for production, assembly or packaging. It has immeasurable value in terms of the ability to detect defects and prevent defective products from being distributed to consumers.
The machine vision detection is characterized by improving the flexibility and the automation degree of production. In some dangerous working environments which are not suitable for manual operation or occasions which are difficult for manual vision to meet the requirements, machine vision is commonly used to replace the manual vision; meanwhile, in the process of mass industrial production, the efficiency of checking the product quality by using manual vision is low, the precision is not high, and the production efficiency and the automation degree of production can be greatly improved by using a machine vision detection method. And the machine vision is easy to realize information integration, and is a basic technology for realizing computer integrated manufacturing.
In machine vision systems, it is important to obtain a high quality processable image. The system is successful by firstly ensuring that the image quality is good and the characteristics are obvious, and that one machine vision project fails, most of the situations are caused by poor image quality and unobvious characteristics. To ensure a good image, a suitable light source must be selected.
Illumination is an important factor affecting machine vision system input, and it directly affects the quality and application effect of input data. Since there is no general machine vision lighting, the corresponding lighting device is selected for each specific application instance to achieve the best results. The light source can be divided into visible light and invisible light. Several visible light sources commonly used are incandescent, fluorescent, mercury and sodium lamps. The visible light has the disadvantage that the light energy does not remain stable. How to keep the light energy stable to a certain extent is a problem which needs to be solved urgently in the practical process. On the other hand, the ambient light may affect the image quality, so the shielding method can be used to reduce the effect of the ambient light. The lighting system can be divided into: back lighting, forward lighting, structured light, and stroboscopic lighting, among others. Among them, the back lighting is that the measured object is placed between the light source and the camera, which has the advantage of obtaining high contrast images. The forward illumination is such that the light source and the camera are located on the same side of the object to be measured, in a manner that facilitates installation. The structured light illumination is to project a grating or a line light source and the like onto a measured object, and demodulate three-dimensional information of the measured object according to distortion generated by the grating or the line light source and the like. The stroboscopic illumination is to irradiate high-frequency light pulses on an object, and the shooting of a camera is required to be synchronous with a light source.
The fruits and vegetables are easy to be damaged by collision, extrusion, vibration and other reasons in the processes of picking, grading, packaging, transporting and the like, so that the appearance quality of the fruits and vegetables can be reduced, and the fruits and vegetables are easy to be rotten (such as late blight, dry rot, soft rot and the like) caused by fungus or bacteria invasion, and the edible safety of the fruits and vegetables is influenced. The infected fruits and vegetables can infect other normal fruits and vegetables in the processes of transportation, storage and the like, and the damage quantity is further increased. The appearance of the bumped fruits and vegetables is possibly not much different from that of normal fruits and vegetables, and the bumped fruits and vegetables are easy to mix, so that potential harm is caused to the internal quality of the bumped fruits and vegetables.
The visual detection technology is applied to fruit and vegetable surface detection in the prior art to realize comprehensive detection of fruits and vegetables, but due to the limitation of the shapes of the fruits and vegetables, the light source illumination of a general visual detection system easily forms high-brightness light spots on the surfaces of the fruits and vegetables to be detected, and the image acquisition effect and the detection result are greatly influenced.
Disclosure of Invention
The invention aims to solve the problems and provide a shadowless LED light source system device for visual inspection of fruits and vegetables, which can form a uniform illumination area on the surface of the fruits and vegetables to be inspected, can well avoid the image quality problem caused by nonuniform illumination and improve the inspection capability.
The invention realizes the purpose through the following technical scheme:
a shadowless LED light source system device for visual inspection of fruits and vegetables comprises a conveying system, a visual inspection system, a light source system and a reflection system, wherein the conveying system comprises a channel conveying device, the visual inspection system comprises a camera, the light source system comprises an LED light source device, the reflection system comprises an arc reflector, the LED light source device is arranged on two sides of the channel conveying device, the LED light source device comprises a lamp holder with LED lamp beads on the surface and a lamp holder fixing device, the lamp holder is arranged on the lamp holder fixing device, and reflecting surfaces facing the channel conveying device are arranged on two sides of the lamp holder fixing device;
an arc reflector is arranged above the channel conveying devices, cameras are arranged above the arc reflectors, and three cameras are correspondingly arranged on each channel conveying device; the light of the LED lamp beads of the light source system is reflected by the arc reflector, part of reflected light irradiates to the fruits and vegetables to be detected on the channel conveying device, the other part of reflected light irradiates to the reflecting surface of the lamp holder fixing device and is reflected to irradiate to the fruits and vegetables to be detected, the light of the LED lamp beads irradiates to the fruits and vegetables to be detected through the arc reflector and the reflection of the lamp holder fixing device, and a uniform illumination area is formed on the surfaces of the fruits and vegetables to be detected; the three cameras form three collecting areas on the surface of the detected fruit and vegetable, the collecting areas are located in the illumination area, the surface of the detected fruit and vegetable in the collecting areas is well illuminated, and the formation of high-brightness light spots is avoided due to the fact that direct illumination is not adopted.
As a further optimization scheme of the invention, the number of the channel conveying devices is two, the number of the cameras is correspondingly six, the number of the LED light source devices is three, the top of a lamp holder fixing device of the LED light source device is provided with a lamp holder, the lamp holder is provided with two rows of LED lamp beads distributed along a Y axis, an included angle between irradiation normals of the LED lamp beads of the two rows of LED lamp beads is beta, the beta is preferably 50-60 degrees, and a plane light-transmitting plate is arranged above the lamp holder; the lamp holder fixing device is provided with reflecting surfaces which are obliquely arranged at two sides, and the reflecting surfaces are reflectors fixedly arranged on the surface of the lamp holder fixing device.
The cameras are distributed along the X-axis direction and are located above the middle of the arc reflector, openings corresponding to the cameras one to one are formed in the arc reflector, observation channels are provided for the cameras to collect, the six cameras are respectively a first camera, a second camera, a third camera, a fourth camera, a fifth camera and a sixth camera, the two channel conveying devices are respectively a first channel conveying device and a second channel conveying device, the first camera, the third camera and the fifth camera correspond to the first channel conveying device, the second camera, the fourth camera and the sixth camera correspond to the second channel conveying device, and the third camera and the fourth camera are located right above the two channel conveying devices respectively.
As a further optimized scheme of the present invention, the first camera, the third camera and the fifth camera respectively collect three collection areas of the surface of the fruit and vegetable to be detected, which are respectively a first collection area, a second collection area and a third collection area, and the first collection area, the second collection area and the third collection area are partially overlapped.
As a further optimization scheme of the invention, the lamp holder is an aluminum substrate lamp holder, has good heat dissipation performance, and can be suitable for LED lamp beads with large heat productivity.
As a further optimization scheme of the LED lamp, the number of the lamp holders is two, the LED lamp beads are arranged at the top of each lamp holder, two ends of each lamp holder are connected with the lamp holder fixing device through the lamp holder rotating shaft, the lamp holder rotating shaft is connected with the driving device through the transmission device, the transmission device comprises a plurality of intermediate gears and transmission gears fixedly arranged on the two lamp holder rotating shafts, the two transmission gears are meshed with each other, the intermediate gears are meshed in sequence, the first intermediate gear is meshed with one transmission gear, and the last intermediate gear is connected with the driving device. The invention adopts the transmission device consisting of a plurality of intermediate gears and two transmission gears, the transmission device transmits the power of the driving device to the lamp holder rotating shaft, the lamp holder rotating shaft directly drives the lamp holder to rotate to adjust the angle of the LED lamp bead on the lamp holder rotating shaft, and the two lamp holders can synchronously rotate in opposite directions due to the adoption of the structure that the two transmission gears are meshed with each other, so that the synchronous adjustment is realized through the synchronous rotation in opposite directions driven by the same driving device.
As a further optimized scheme of the invention, the driving device comprises a servo motor and a driving box, an output shaft of the servo motor is connected with an input shaft of the driving box, a worm wheel and a worm wheel shaft are arranged in the driving box, the input shaft of the driving box is fixedly connected with the worm, two ends of the worm are connected with the driving box through bearings, the worm is meshed with the worm wheel, the worm wheel is fixedly arranged on the worm wheel shaft, the worm wheel shaft is connected with the driving box through the bearings, one end of the worm wheel shaft extends to the outer side of the driving box and is fixedly provided with a driving gear, and the driving gear is meshed with the last intermediate gear. The driving device specifically adopts a servo motor to provide source power, the servo motor drives an input shaft of the driving box to rotate, and then drives the worm to rotate, the worm drives the worm wheel to rotate, the worm wheel drives the worm wheel shaft and the driving gear to rotate, the driving gear drives the intermediate gear to rotate through gear transmission, and finally the lamp holder is driven to rotate.
As a further optimization scheme of the invention, the driving device is connected with a control system, the control system comprises a central controller, monitoring system and actuating system, central controller connects monitoring system and actuating system, monitoring system includes angle sensor and AD converter, actuating system includes DA converter and motor drive, the digital signal input part of central controller connects the digital signal output part of AD converter, the analog signal input part of AD converter connects angle sensor's analog signal output part, angle sensor sets up in LED light source device's lamp stand pivot, the digital signal input part of the motor drive of D/A converter is connected to central controller's digital signal output part, the power input part of motor drive connects the power, servo motor's power input part is connected to motor drive's power output part. The central controller sends out a control signal to control the motor driver and drive the servo motor to rotate so as to drive the lamp holder to rotate and adjust the angle of the LED lamp bead, and the central controller receives a corner signal collected by the angle sensor to obtain the feedback of a lamp holder corner; the central controller and the camera are connected with a common upper computer.
A control method of a control system of a fruit and vegetable visual detection shadowless LED light source system device comprises the following steps:
s1, the upper computer analyzes the camera acquisition area, if highlight light spots appear, the illumination of the LED lamp beads is closer to the position of the illumination area after being reflected by the lamp holder fixing device, so that the illumination is generated on the surface of the detected fruit and vegetable to be directly irradiated to the camera lens, the illumination area after being reflected needs to be moved downwards, the upper computer and the central controller communicate to send data at the moment, the central controller sends a control signal to the motor driver after receiving the data, the servo motor is driven to rotate forwards, the two lamp holders are driven to oppositely rotate 1 DEG towards the middle direction, and the illumination area after being reflected by the lamp holder fixing device moves downwards;
if the shadow appears, the position of an illumination area of the LED lamp bead after the illumination passes through the reflection of the lamp holder fixing device is closer to the lower part, at the moment, the upper computer communicates with the central controller to send data, the central controller receives the data and sends a control signal to the motor driver to drive the servo motor to rotate reversely, and the two lamp holders are driven to rotate oppositely towards the two sides by 1 degree, so that the position of the illumination area after the reflection of the lamp holder fixing device moves upwards;
s2, after the rotation of the servo motor stops in the step S1, the angle sensor detects the rotation angle of the lamp holder rotating shaft and sends a signal to the central controller, the central controller sends the rotation angle signal to the upper computer, the upper computer receives the image collected by the camera after the lamp holder rotates in the step S1, the image collected after the step S1 is compared with the image collected before the step S1 to obtain the area ratio of highlight spots or the area ratio alpha of shadows of the image after the step S1 and before the step S1, and the change of the highlight spots or the shadows is quantized;
s3, calculating an estimated correction angle a from the area ratio of the highlight spots or the area ratio α of the shadows and the rotation angle of the image after step S1 and before step S1, where a is/α;
s4, the upper computer sends a control signal to the central controller according to the estimated correction angle calculated in the step S3, the central controller sends the control signal to the motor driver after receiving the signal, the motor driver drives the servo motor to rotate, the control signal sent by the central controller controls the servo motor to drive the lamp holder rotating shaft to rotate to estimate the correction angle A, and actually, the actual rotating angle of the lamp holder rotating shaft and the rotation estimated correction angle A have deviation due to transmission deviation;
s5, after the servo motor stops rotating, detecting an actual rotation angle theta of the lamp holder rotating shaft by the angle sensor, sending a signal to the central controller, calculating a difference value between the rotation angle theta and the estimated correction angle A by the central controller to obtain a compensation angle, then sending a control signal to the motor driver, controlling the servo motor by the motor driver to drive the lamp holder rotating shaft to rotate by the compensation angle, and finally correcting the rotation angle of the lamp holder rotating shaft to be the estimated correction angle A;
s6, looping the steps S1-S5 until the highlight light spots or shadows in the collection area disappear.
As a further optimization scheme of the invention, the reflecting surface of the lamp holder fixing device of the LED light source device is a reflecting lens, the reflecting lens includes a reflecting layer and a lens layer, the reflecting layer is disposed on a surface of the lens layer close to the lamp holder fixing device, the lens layer includes a central circular portion and a plurality of annular portions sequentially disposed from inside to outside, the surface of the annular portion is an inclined surface, the inclined surface is inclined from outside to inside, the inclination angle of the inclined surface is B, the included angle between the normal line of the LED lamp bead and the vertical plane is C, and B is C.
The LED lamp beads emit light, the light is reflected to the reflecting lens through the arc reflecting plate, the light is reflected by the reflecting layer after being reflected by the annular part of the reflecting lens and is refracted reversely, an illumination area with the brightness gradually increased from the center to the outside is formed, the spherical measured vegetables and fruits can adapt to the surface shape of the spherical measured vegetables and fruits, and highlight spots are avoided.
The invention has the beneficial effects that:
1) the system device can form uniform illumination areas on the surfaces of the fruits and vegetables to be detected, can well avoid the problem of image quality caused by uneven illumination and improve the detection capability;
2) the invention adopts a dynamic adjustment mode to adjust the angle of the LED light bead and adopts an angle feedback mode to achieve the illumination effect without highlight light spots and shadows;
3) the invention adopts a mode of combining the reflecting lenses as the reflecting surface, and the reflecting surface corresponding to the LED lamp beads matched with the angles of the reflecting surface can provide a gradual change type illumination area suitable for the fruits and vegetables to be tested, thereby avoiding high-brightness light spots and shadows.
Drawings
FIG. 1 is a schematic view showing a light irradiation path of a light source according to the first embodiment of the present invention
FIG. 2 is a schematic diagram of an LED light source device according to an embodiment of the present invention
FIG. 3 is a schematic diagram of a light irradiation path of a light source according to the first embodiment of the present invention
FIG. 4 is a schematic view of a camera capture area according to the first embodiment of the present invention
FIG. 5 is a schematic diagram of a camera capture area according to the first embodiment of the invention
FIG. 6 is a schematic diagram of an actual area of fruit and vegetable inspection according to the first embodiment of the present invention;
FIG. 7 is a schematic structural diagram of an LED light source device according to the second embodiment of the present invention;
FIG. 8 is a schematic structural view of a driving apparatus according to the second embodiment of the present invention;
FIG. 9 is a schematic structural view of a control system of a drive apparatus according to the second embodiment of the present invention;
FIG. 10 is a schematic structural view of a reflection lens of the present invention in a third embodiment;
FIG. 11 is a schematic sectional view showing a reflection lens of the present invention according to a third embodiment;
fig. 12 is a schematic structural diagram of an LED light source device according to a third embodiment of the present invention.
In the figure: the device comprises a first camera 1, a second camera 2, a third camera 3, a fourth camera 4, a fifth camera 5, a sixth camera 6, an arc reflector 7, an LED light source device 8, a detected fruit and vegetable 9, a first channel conveying device 10, an LED lamp bead irradiation normal line 11, a plane light-transmitting plate 12, an LED lamp bead 13, a lamp holder 14, a lamp holder fixing device 15 and a second channel conveying device 16;
the lamp holder rotating shaft 21, the intermediate gear 22, the transmission gear 23, the driving box 24, the servo motor 25, the worm 26, the worm wheel 27 and the worm wheel shaft 28;
a reflective lens 31, a reflective layer 32, and a lens layer 33.
Detailed Description
The present application will now be described in further detail with reference to the drawings, it should be noted that the following detailed description is given for illustrative purposes only and is not to be construed as limiting the scope of the present application, as those skilled in the art will be able to make numerous insubstantial modifications and adaptations to the present application based on the above disclosure.
As shown in fig. 1-6, a shadowless LED light source system device for visual inspection of fruits and vegetables comprises a conveying system, a visual inspection system, a light source system and a reflection system, wherein the conveying system comprises a channel conveying device, the visual inspection system comprises a camera, the light source system comprises an LED light source device 8, the reflection system comprises an arc reflector 7, the LED light source device 8 is arranged on two sides of the channel conveying device, the LED light source device 8 comprises a lamp holder 14 with LED lamp beads 13 on the surface and a lamp holder fixing device 15, the lamp holder 14 is arranged on the lamp holder fixing device 15, and the two sides of the lamp holder fixing device 15 are provided with reflection surfaces facing the channel conveying device;
an arc reflector 7 is arranged above the channel conveying devices, cameras are arranged above the arc reflector 7, and three cameras are correspondingly arranged on each channel conveying device; the light of the LED lamp beads 13 of the light source system is reflected by the arc reflecting plate 7, part of reflected light irradiates the fruit and vegetable 9 to be detected on the channel conveying device, the other part of reflected light irradiates the reflecting surface of the lamp holder fixing device 15 and is reflected to irradiate the fruit and vegetable 9 to be detected, the light of the LED lamp beads 13 irradiates the fruit and vegetable 9 to be detected through the arc reflecting plate 7 and the lamp holder fixing device 15, and a uniform illumination area is formed on the surface of the fruit and vegetable 9 to be detected; the three cameras form three collecting areas on the surface of the detected fruit and vegetable 9, the collecting areas are located in the illumination area, the surface of the detected fruit and vegetable 9 in the collecting areas is well illuminated, and the formation of high-brightness light spots is avoided due to the fact that direct illumination is not adopted.
The specific visual detection process of the invention comprises the following steps:
the detected fruits and vegetables 9 are conveyed through the visual detection area of the camera through the channel conveying device, and the LED lamp beads 13 are synchronously triggered by signals with all the cameras and maintain a signal period. The LED lamp beads 13 are lit while the camera is taking image acquisition.
The cameras are installed at three different angles and used for collecting three-dimensional images of the fruits and the vegetables on the same conveyor belt, and the cameras acquire information of different areas on the surfaces of the fruits and the vegetables.
The LED light source device 8 provides sufficient light for visual inspection;
the LED light source devices 8 are arranged in parallel with the channel conveying device and are distributed on two sides of the detected fruits and vegetables 9 at the same time, the plurality of cameras are uniformly arranged right above the detected fruits and vegetables 9, and the arc reflector 7 is arranged between the cameras and the detected fruits and vegetables 9;
LED lamp pearl 13 light distribution shines the normal both sides at the lamp pearl, through circular arc reflector panel 7 and lamp stand fixing device 15 light reflection to surveyed fruit vegetables 9, has increased the surperficial bright degree of surveyed fruit vegetables 9, forms even illumination region, has avoided being surveyed fruit vegetables 9 surface formation highlight facula simultaneously.
The system device can form uniform illumination areas on the surfaces of the fruits and vegetables 9 to be detected, can well avoid the problem of image quality caused by uneven illumination and improve the detection capability.
Example one
As shown in fig. 1-6, there are two channel conveying devices, six cameras are correspondingly provided, three LED light source devices 8 are provided, a lamp holder 14 is provided on the top of a lamp holder fixing device 15 of the LED light source device 8, two rows of LED lamp beads 13 distributed along the Y axis are provided on the lamp holder 14, an included angle between the LED lamp beads of the two rows of LED lamp beads 13 and the irradiation normal line 11 is β, β is preferably 50-60 °, and a planar light-transmitting plate 12 is provided above the lamp holder 14; the lamp holder fixing device 15 is provided at both sides thereof with reflecting surfaces which are obliquely arranged and are mirrors fixedly arranged on the surface of the lamp holder fixing device 15.
The cameras are distributed along the X-axis direction and are all located above the middle of the arc reflector 7, openings corresponding to the cameras one by one are formed in the arc reflector 7 and provide observation channels for collection of the cameras, the six cameras are respectively a first camera 1, a second camera 2, a third camera 3, a fourth camera 4, a fifth camera 5 and a sixth camera 6, the two channel conveying devices are respectively a first channel conveying device 10 and a second channel conveying device 16, the first camera 1, the third camera 3 and the fifth camera 5 correspond to the first channel conveying device 10, the second camera 2, the fourth camera 4 and the sixth camera 6 correspond to the second channel conveying device 16, and the third camera 3 and the fourth camera 4 are located right above the two channel conveying devices;
as shown in fig. 6, the first camera 1, the third camera 3 and the fifth camera 5 respectively collect three collection areas of the surface of the fruit and vegetable 9 to be detected, which are respectively a first collection area, a second collection area and a third collection area, and the first collection area, the second collection area and the third collection area are partially overlapped.
In this embodiment, the included angles between the six cameras and the XZ plane are 0 °, the included angle between the first camera 1 and the YZ plane is 60 °, the included angle between the third camera 3 and the YZ plane is 60 °, and the included angle between the fifth camera 5 and the YZ plane is 0 °.
The lamp holder 14 in the embodiment is an aluminum substrate lamp holder, has good heat dissipation performance, and can be suitable for the LED lamp bead 13 with large heat productivity.
The tunnel conveyor in this embodiment is a conveyor belt.
In this embodiment, the camera is connected to the host computer through a signal line. And transmitting the acquired image data to an upper computer for processing to obtain a three-dimensional image.
Example two
As shown in fig. 7-9, in this embodiment, the LED light source device 8 has the following structure with an adjusting function, specifically, two lamp sockets 14 are symmetrically disposed, the top of the lamp socket 14 is provided with the LED lamp beads 13, two ends of the lamp socket 14 are connected to the lamp socket fixing device 15 through the lamp socket rotating shaft 21, the lamp socket rotating shaft 21 is connected to the driving device through the driving device, the driving device includes a plurality of intermediate gears 22 and transmission gears 23 fixedly disposed on the two lamp socket rotating shafts 21, the two transmission gears 23 are engaged with each other, the plurality of intermediate gears 22 are sequentially engaged with each other, the first intermediate gear 22 is engaged with one transmission gear 23, and the last intermediate gear 22 is connected to the driving device. The invention adopts a transmission device consisting of a plurality of intermediate gears 22 and two transmission gears 23, the transmission device transmits the power of the driving device to the lamp holder rotating shaft 21, the lamp holder rotating shaft 21 directly drives the lamp holder 14 to rotate and adjust the angle of the LED lamp bead 13 on the lamp holder 14, and the two lamp holders 14 can synchronously rotate in opposite directions due to the adoption of the structure that the two transmission gears 23 are meshed with each other, and synchronous adjustment is realized through synchronous rotation in opposite directions driven by the same driving device.
The driving device comprises a servo motor 25 and a driving box 24, an output shaft of the servo motor 25 is connected with an input shaft of the driving box 24, a worm 26, a worm wheel 27 and a worm wheel shaft 28 are arranged inside the driving box 24, the input shaft of the driving box 24 is fixedly connected with the worm 26, two ends of the worm 26 are connected with the driving box 24 through bearings, the worm 26 is meshed with the worm wheel 27, the worm wheel 27 is fixedly arranged on the worm wheel shaft 28, the worm wheel shaft 28 is connected with the driving box 24 through bearings, one end of the worm wheel shaft 28 extends to the outer side of the driving box 24 and is fixedly provided with a driving gear, and the driving gear is meshed with the last intermediate gear. The driving device specifically adopts the servo motor 25 to provide source power, the servo motor 25 drives the input shaft of the driving box 24 to rotate, and then drives the worm 26 to rotate, the worm 26 drives the worm wheel 27 to rotate, the worm wheel 27 drives the worm wheel shaft 28 and the driving gear to rotate, the driving gear drives the intermediate gear 22 to rotate through gear transmission, and finally the lamp holder 14 is driven to rotate.
In this embodiment, an adaptive control system is used for the drive, specifically comprising a central controller, monitoring system and actuating system, central controller connects monitoring system and actuating system, monitoring system includes angle sensor and AD converter, actuating system includes DA converter and motor drive, the digital signal input part of central controller connects the digital signal output part of AD converter, the analog signal input part of AD converter connects angle sensor's analog signal output part, angle sensor sets up on LED light source device 8's lamp stand pivot 21, the digital signal input part of the motor drive of D/A converter is connected to central controller's digital signal output part, the power input part of motor drive connects the power, servo motor 25's power input part is connected to motor drive's power output part. The central controller sends out a control signal to control the motor driver and drive the servo motor 25 to rotate, so as to drive the lamp holder 14 to rotate, adjust the angle of the LED lamp bead 13, and receive a corner signal collected by the angle sensor to obtain the feedback of the corner of one lamp holder 14.
In this embodiment, the central controller and the camera are connected to a common upper computer.
Based on the above control system, the present embodiment designs a control method of a light source system, including the following steps:
s1, because the camera collecting area right above the channel conveying device can not generate highlight light spots and insufficient brightness (the camera is equivalent to a backlight source), the highlight light spots and insufficient brightness are mainly generated in the collecting areas of the other two cameras in a group of cameras, the illumination in the two collecting areas can be adjusted through the angle of the LED lamp beads 13, the upper computer analyzes the camera collecting area, if the highlight light spots are generated, the illumination of the LED lamp beads 13 is closer to the position of the illumination area after being reflected by the lamp holder fixing device 15, the illumination generates stronger direct light to the camera lens on the surface of the tested fruit and vegetable 9, therefore, the reflected illumination area needs to be moved downwards, the upper computer communicates with the central controller to send data, the central controller sends a control signal to the motor driver after receiving the data, the servo motor 25 is driven to rotate forward to drive the two lamp holders 14 to rotate 1 degree oppositely towards the middle direction, so that the position of the illumination area after reflection of the lamp holder fixing device 15 moves downwards;
if the shadow (insufficient brightness) appears, the position of the illumination area of the LED lamp bead 13 after the illumination passes through the reflection of the lamp holder fixing device 15 is relatively lower, at the moment, the upper computer communicates with the central controller to send data, the central controller sends a control signal to the motor driver after receiving the data, the servo motor 25 is driven to rotate reversely, and the two lamp holders 14 are driven to rotate 1 degree oppositely towards the two sides, so that the position of the illumination area after the reflection of the lamp holder fixing device 15 moves upwards;
s2, after the rotation of the servo motor 25 stops in the step S1, the angle sensor detects the rotation angle of the lamp holder rotating shaft 21 and sends a signal to the central controller, the central controller receives the rotation angle signal and then sends the rotation angle signal to the upper computer, the upper computer receives the image collected by the lamp holder 14 after the rotation of the lamp holder 14 in the step S1, the image collected after the step S1 is compared with the image collected before the step S1, the area ratio of high bright spots or the area ratio of shadows of the image after the step S1 and before the step S1 is obtained, and the change of the high bright spots or the shadows is quantized;
s3, calculating an estimated correction angle a from the area ratio of the highlight spots or the area ratio α of the shadows and the rotation angle of the image after step S1 and before step S1, where a is/α;
s4, the upper computer sends a control signal to the central controller according to the estimated correction angle calculated in the step S3, the central controller sends the control signal to the motor driver after receiving the signal, the motor driver drives the servo motor 25 to rotate, the control signal sent by the central controller controls the servo motor 25 to drive the lamp holder rotating shaft 21 to rotate by the estimated correction angle A, but actually, the actual rotating angle of the lamp holder rotating shaft 21 and the estimated correction angle A rotate due to transmission deviation exist deviation;
s5, in step S4, after the rotation of the servo motor 25 is stopped, detecting an actual rotation angle θ of the lamp holder rotating shaft 21 by the angle sensor, and sending a signal to the central controller, the central controller calculating a difference between the rotation angle θ and the estimated correction angle a to obtain a compensation angle, and then sending a control signal to the motor driver, the motor driver controlling the servo motor 25 to drive the lamp holder rotating shaft 21 to rotate the compensation angle, and finally correcting the rotation angle of the lamp holder rotating shaft to be the estimated correction angle a;
s6, looping the steps S1-S5 until the highlight light spots or shadows in the collection area disappear.
EXAMPLE III
As shown in fig. 10-12, in this embodiment, the reflecting surface of the socket fixture 15 of the LED light source device 8 is a reflecting lens 31, the reflecting lens 31 includes a reflecting layer 32 and a lens layer 33, the reflecting layer 32 is disposed on a surface of the lens layer 33 close to the socket fixture 15, the lens layer 33 includes a central circular portion and a plurality of annular portions sequentially disposed from inside to outside, a surface of the annular portion is an inclined surface, the inclined surface is inclined from outside to inside, an inclination angle of the inclined surface is B, an included angle between the LED lamp bead irradiation normal line 11 of the LED lamp bead 13 and a vertical plane is C, and B is equal to C.
The light emitted by the LED lamp beads 13 is reflected to the reflecting lens 31 through the arc reflecting plate 7, reflected by the reflecting layer 32 after being refracted by the annular part of the reflecting lens 31, refracted reversely and returned, so that an illumination area with gradually increased brightness from the center to the outside is formed, the spherical detected vegetables and fruits can adapt to the surface shape of the spherical detected vegetables and fruits, and highlight spots are avoided.
The above-mentioned embodiments only express several embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the present invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention.

Claims (9)

1. The utility model provides a fruit vegetables visual detection shadowless LED light source system device which characterized in that: the LED lamp comprises a conveying system, a visual detection system, a light source system and a reflection system, wherein the conveying system comprises a channel conveying device, the visual detection system comprises a camera, the light source system comprises an LED light source device, the reflection system comprises an arc reflector, the two sides of the channel conveying device are provided with the LED light source device, the LED light source device comprises a lamp holder with LED lamp beads on the surface and a lamp holder fixing device, the lamp holder is arranged on the lamp holder fixing device, and the two sides of the lamp holder fixing device are provided with reflecting surfaces facing the channel conveying device;
an arc reflector is arranged above the channel conveying devices, cameras are arranged above the arc reflectors, and three cameras are correspondingly arranged on each channel conveying device; the light of the LED lamp beads of the light source system is reflected by the arc reflector, part of reflected light irradiates to the fruits and vegetables to be detected on the channel conveying device, the other part of reflected light irradiates to the reflecting surface of the lamp holder fixing device and is reflected to irradiate to the fruits and vegetables to be detected, the light of the LED lamp beads irradiates to the fruits and vegetables to be detected through the arc reflector and the reflection of the lamp holder fixing device, and a uniform illumination area is formed on the surfaces of the fruits and vegetables to be detected; the three cameras form three acquisition areas on the surface of the detected fruits and vegetables, and the acquisition areas are located in the illumination area.
2. The shadowless LED light source system device for the visual inspection of fruits and vegetables according to claim 1, wherein: the LED lamp comprises a channel conveying device, cameras and LED light source devices, wherein the channel conveying device is provided with two channels, the cameras are correspondingly provided with six channels, the number of the LED light source devices is three, lamp holders are arranged at the tops of lamp holder fixing devices of the LED light source devices, two rows of LED lamp beads distributed along the Y axis are arranged on the lamp holders, the included angle between the irradiation normals of the LED lamp beads of the two rows of LED lamp beads is beta, the beta is preferably 50-60 degrees, and a plane light; the two sides of the lamp holder fixing device are provided with reflecting surfaces which are obliquely arranged, and the reflecting surfaces are reflectors fixedly arranged on the surface of the lamp holder fixing device;
the cameras are distributed along the X-axis direction and are located above the middle of the arc reflector, openings corresponding to the cameras one to one are formed in the arc reflector, observation channels are provided for the cameras to collect, the six cameras are respectively a first camera, a second camera, a third camera, a fourth camera, a fifth camera and a sixth camera, the two channel conveying devices are respectively a first channel conveying device and a second channel conveying device, the first camera, the third camera and the fifth camera correspond to the first channel conveying device, the second camera, the fourth camera and the sixth camera correspond to the second channel conveying device, and the third camera and the fourth camera are located right above the two channel conveying devices respectively.
3. The shadowless LED light source system device for the visual inspection of fruits and vegetables according to claim 1, wherein: the first camera, the third camera and the fifth camera respectively collect three collecting areas of the surface of the detected fruit and vegetable, wherein the three collecting areas are respectively a first collecting area, a second collecting area and a third collecting area, and the first collecting area, the second collecting area and the third collecting area are partially overlapped.
4. The shadowless LED light source system device for the visual inspection of fruits and vegetables according to claim 1, wherein: the lamp holder is an aluminum substrate lamp holder.
5. The shadowless LED light source system device for the visual inspection of fruits and vegetables according to claim 1, wherein: the LED lamp comprises a lamp holder, a lamp holder fixing device, a driving device, a plurality of intermediate gears, a transmission gear, a driving gear and a lamp holder fixing device, wherein the lamp holder is symmetrically arranged, the LED lamp beads are arranged at the top of the lamp holder, two ends of the lamp holder are connected with the lamp holder fixing device through a lamp holder rotating shaft, the lamp holder rotating shaft is connected with the driving device through the transmission device, the transmission device comprises a plurality of intermediate gears and transmission gears fixedly arranged on the two lamp holder rotating shafts, the two transmission gears are meshed with each other, the plurality; the transmission device is composed of a plurality of intermediate gears and two transmission gears, the transmission device transmits the power of the driving device to the lamp holder rotating shaft, the lamp holder rotating shaft directly drives the lamp holder to rotate to adjust the angle of the LED lamp bead on the lamp holder rotating shaft, and the two lamp holders can rotate in the opposite direction synchronously.
6. The shadowless LED light source system device for the visual inspection of fruits and vegetables according to claim 5, wherein: the driving device comprises a servo motor and a driving box, wherein an output shaft of the servo motor is connected with an input shaft of the driving box, a worm wheel and a worm wheel shaft are arranged in the driving box, the input shaft of the driving box is fixedly connected with the worm, two ends of the worm are connected with the driving box through bearings, the worm is meshed with the worm wheel, the worm wheel is fixedly arranged on the worm wheel shaft, the worm wheel shaft is connected with the driving box through a bearing, one end of the worm wheel shaft extends to the outer side of the driving box and is fixedly provided with a driving gear, and the driving gear is meshed with the last intermediate gear; the driving device specifically adopts a servo motor to provide source power, the servo motor drives an input shaft of the driving box to rotate, and then drives the worm to rotate, the worm drives the worm wheel to rotate, the worm wheel drives the worm wheel shaft and the driving gear to rotate, the driving gear drives the intermediate gear to rotate through gear transmission, and finally the lamp holder is driven to rotate.
7. The shadowless LED light source system device for the visual detection of fruits and vegetables according to claim 5 or 6, wherein: the driving device is connected with a control system, the control system comprises a central controller, the monitoring system comprises an angle sensor and an A/D converter, the driving system comprises a D/A converter and a motor driver, a digital signal input end of the central controller is connected with a digital signal output end of the A/D converter, an analog signal input end of the A/D converter is connected with an analog signal output end of the angle sensor, the angle sensor is arranged on a lamp holder rotating shaft of the LED light source device, a digital signal output end of the central controller is connected with a digital signal input end of a motor driver of the D/A converter, a power input end of the motor driver is connected with a power supply, and a power output end of the motor driver is connected with a power input end of a servo motor; the central controller and the camera are connected with a common upper computer.
8. The control method of the control system of the fruit and vegetable visual inspection shadowless LED light source system device according to claim 6, wherein the control method comprises the following steps: the method comprises the following steps:
s1, the upper computer analyzes the camera acquisition area, if highlight light spots appear, the illumination of the LED lamp beads is closer to the position of the illumination area after being reflected by the lamp holder fixing device, so that the illumination is generated on the surface of the detected fruit and vegetable to be directly irradiated to the camera lens, the illumination area after being reflected needs to be moved downwards, the upper computer and the central controller communicate to send data at the moment, the central controller sends a control signal to the motor driver after receiving the data, the servo motor is driven to rotate forwards, the two lamp holders are driven to oppositely rotate 1 DEG towards the middle direction, and the illumination area after being reflected by the lamp holder fixing device moves downwards;
if the shadow appears, the position of an illumination area of the LED lamp bead after the illumination passes through the reflection of the lamp holder fixing device is closer to the lower part, at the moment, the upper computer communicates with the central controller to send data, the central controller receives the data and sends a control signal to the motor driver to drive the servo motor to rotate reversely, and the two lamp holders are driven to rotate oppositely towards the two sides by 1 degree, so that the position of the illumination area after the reflection of the lamp holder fixing device moves upwards;
s2, after the rotation of the servo motor stops in the step S1, the angle sensor detects the rotation angle of the lamp holder rotating shaft and sends a signal to the central controller, the central controller sends the rotation angle signal to the upper computer, the upper computer receives the image collected by the camera after the lamp holder rotates in the step S1, the image collected after the step S1 is compared with the image collected before the step S1 to obtain the area ratio of highlight spots or the area ratio alpha of shadows of the image after the step S1 and before the step S1, and the change of the highlight spots or the shadows is quantized;
s3, calculating an estimated correction angle a from the area ratio of the highlight spots or the area ratio α of the shadows and the rotation angle of the image after step S1 and before step S1, where a is/α;
s4, the upper computer sends a control signal to the central controller according to the estimated correction angle calculated in the step S3, the central controller sends the control signal to the motor driver after receiving the signal, and the motor driver drives the servo motor to rotate;
s5, after the servo motor stops rotating, detecting an actual rotation angle theta of the lamp holder rotating shaft by the angle sensor, sending a signal to the central controller, calculating a difference value between the rotation angle theta and the estimated correction angle A by the central controller to obtain a compensation angle, then sending a control signal to the motor driver, controlling the servo motor by the motor driver to drive the lamp holder rotating shaft to rotate by the compensation angle, and finally correcting the rotation angle of the lamp holder rotating shaft to be the estimated correction angle A;
s6, looping the steps S1-S5 until the highlight light spots or shadows in the collection area disappear.
9. The shadowless LED light source system device for the visual inspection of fruits and vegetables according to claim 1, wherein: the lamp stand fixing device's of LED light source device plane of reflection is a reflection lens, and this reflection lens includes reflection stratum and lens layer, and the one side that the lens layer is close to lamp stand fixing device is located to the reflection stratum, and the lens layer includes central circular portion and a plurality of by interior annular portion that sets gradually outside, and the surface of annular portion is the inclined plane, and the inclined plane is by outside inboard slope, and the inclination on inclined plane is B, and the LED lamp pearl of LED lamp pearl shines the contained angle between normal and the vertical plane and is C, and B equals C.
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