CN111713708B - Fresh lotus seed core removing machine based on machine vision - Google Patents
Fresh lotus seed core removing machine based on machine vision Download PDFInfo
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- CN111713708B CN111713708B CN202010610070.4A CN202010610070A CN111713708B CN 111713708 B CN111713708 B CN 111713708B CN 202010610070 A CN202010610070 A CN 202010610070A CN 111713708 B CN111713708 B CN 111713708B
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- core removing
- tail
- lotus seed
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- lotus
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- A—HUMAN NECESSITIES
- A23—FOODS OR FOODSTUFFS; TREATMENT THEREOF, NOT COVERED BY OTHER CLASSES
- A23N—MACHINES OR APPARATUS FOR TREATING HARVESTED FRUIT, VEGETABLES OR FLOWER BULBS IN BULK, NOT OTHERWISE PROVIDED FOR; PEELING VEGETABLES OR FRUIT IN BULK; APPARATUS FOR PREPARING ANIMAL FEEDING- STUFFS
- A23N4/00—Machines for stoning fruit or removing seed-containing sections from fruit, characterised by their stoning or removing device
- A23N4/12—Machines for stoning fruit or removing seed-containing sections from fruit, characterised by their stoning or removing device for coring fruit
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- A—HUMAN NECESSITIES
- A23—FOODS OR FOODSTUFFS; TREATMENT THEREOF, NOT COVERED BY OTHER CLASSES
- A23N—MACHINES OR APPARATUS FOR TREATING HARVESTED FRUIT, VEGETABLES OR FLOWER BULBS IN BULK, NOT OTHERWISE PROVIDED FOR; PEELING VEGETABLES OR FRUIT IN BULK; APPARATUS FOR PREPARING ANIMAL FEEDING- STUFFS
- A23N3/00—Machines for coring or stoning fruit, characterised by their feeding device
- A23N3/02—Machines for coring or stoning fruit, characterised by their feeding device with feeder-drums
Abstract
Fresh lotus seed core removing machine based on machine vision. Relates to a fresh lotus seed core removing device. The fresh lotus seed core removing machine based on machine vision is provided, and the core removing execution mechanism is controlled to accurately remove cores from the tail direction of lotus seeds and the positions of tail protruding points by accurately identifying the tail direction and the positions of tail protruding points of lotus seeds. Comprises a machine vision device 3 for collecting fresh lotus seed images and a coring execution mechanism 4 for executing coring operation; the machine vision device 3 comprises a first camera 32 and a second camera 34 which are respectively positioned at two sides of the lotus seed core removing station; the core removing executing mechanism 4 comprises a first linear module 42, a second linear module 43 and a core removing poking needle assembly 44, wherein the core removing poking needle assembly 44 is horizontally arranged, and core removing operation is completed through the action of the core removing poking needle assembly 44. The invention has the advantages of accurate visual positioning, low requirements on lotus seed varieties, producing places and size consistency, high success rate, low breakage rate, reliable operation, convenient maintenance and the like.
Description
Technical Field
The invention relates to fresh lotus seed core removing equipment, in particular to a fresh lotus seed core removing machine based on machine vision.
Background
Lotus seeds are distributed in the south and north provinces of China, and are mainly distributed in the east China, the middle China and the south China water areas, such as Hunan, hubei, jiangxi, jiangsu and the like. Lotus seeds have extremely high nutritional value and medicinal value, but lotus seeds are bitter and generally need to be removed before eating. At present, the lotus seed core-through link is mainly manually processed by a simple tool or by a comparatively backward small machine.
The existing lotus seed core removing equipment adopts the maximum cross section of the outer contour along the long axis direction of lotus seeds for positioning, and a poking needle is penetrated from the center position of an external circle for core removing. However, the lotus seeds have different outline dimensions, the roundness of the section is relatively uneven, and the coaxiality error of the geometric axis of the fresh lotus seeds and the axis of the lotus seeds is relatively large, which can reach about 2mm at maximum. When the existing method is adopted for core removal, the poking needle or the drill bit is easy to deviate from the axial direction of the long axis of the lotus seed, so that the lotus seed is easy to damage, the core removal is not thorough, the lotus seed is seriously damaged, and the like.
In the prior art, the core removing equipment of fresh chains is mostly similar to a Chinese patent application named as a pneumatic self-adaptive fresh lotus seed core removing machine and published by the State office on the 7 th and 23 th of 2019, and the application number is 201910301627.3, wherein head and tail information of lotus seeds after being aligned is acquired through a color code sensor and is transmitted to a PLC (programmable logic controller) so as to determine which group of self-adaptive core removing mechanisms execute core removing; however, the method still does not solve the problems that the core removing operation is carried out along the long axis direction of the lotus seeds, the axial direction of the long axis of the lotus seeds is easily deviated due to the penetration direction, the core removing is incomplete, the lotus seeds are damaged, and the like. Meanwhile, the color code sensor is used for identifying the head and tail of lotus seeds, so that the lotus seeds are high in requirements on the head colors of the lotus seeds, and are not suitable for lotus seeds with larger head colors in different production places and in different growth periods.
In addition, the proposal also mentions that the rubber coating rollers are driven to rotate by the friction belt, so that lotus seeds positioned between two adjacent rubber coating rollers roll rapidly, and the posture adjustment is realized; however, since the appearance of lotus seeds is close to ellipse, if the encapsulation roller shown in fig. 7 is adopted, an optimal phase section exists between the lotus seeds and the encapsulation roller, so that the long axis of the lotus seeds deviates from a preset position and forms a certain included angle with the preset position, and finally, the accuracy and the core removing effect of the subsequent core removing operation are greatly affected.
Disclosure of Invention
The invention aims at the problems and provides a fresh lotus seed core removing machine based on machine vision, which controls a core removing executing mechanism to accurately remove cores from the tail direction and the tail salient point position of lotus seeds by accurately identifying the tail direction and the tail salient point position of the lotus seeds. The lotus seed core removing machine solves the problem that the core removing position is difficult to position, and has the characteristics of high automation degree, high core removing success rate, lower requirement on the uniformity of lotus seed size, better applicability to lotus seeds in different producing places, capability of ensuring the integrity and the damage rate of lotus seeds and lotus cores after core removing and the like.
The technical scheme of the invention is as follows: comprises a machine vision device 3 for collecting fresh lotus seed images and a coring execution mechanism 4 for executing coring operation;
the machine vision device 3 comprises a first camera 32 and a second camera 34 which are respectively positioned at two sides of a lotus seed core removing station, and images of the lotus seeds positioned in the lotus seed core removing station are acquired through the first camera 32 and the second camera 34;
the core removing executing mechanism 4 comprises a first linear module 42, a second linear module 43 and a core removing poking needle assembly 44, wherein the core removing poking needle assembly 44 is horizontally arranged, the core removing poking needle assembly 44 is driven to translate through the first linear module 42 and the second linear module 43, and core removing operation is completed through the action of the core removing poking needle assembly 44.
The fresh lotus seed core removing machine also comprises an image processing module and a control system;
the image processing module recognizes the direction of the lotus seed tail and the position of the bump of the lotus seed tail according to the image collected by the machine vision device 3, and sends the position to the control system after calculating the space coordinates of the bump of the lotus seed tail;
the control system controls the first linear module 42 and the second linear module 43 according to the space coordinates of the protruding points of the lotus seed tail, so that the core removing poking needle in the core removing poking needle assembly 44 translates to a position coaxial with the protruding points of the lotus seed tail, and then controls the corresponding core removing poking needle according to the direction of the lotus seed tail to finish the core removing operation of the lotus seed.
The machine vision device 3 further comprises a light source 33 arranged towards the decoring station.
The first camera 32 and the second camera 34 are respectively and fixedly connected to the frame and both are arranged towards the core removing station, the first camera 32 is arranged parallel to the Y axis, and the second camera 34 is arranged parallel to the X axis.
The first linear module 42 and the second linear module 43 are both linear driving mechanisms and have a fixed part and a movable part;
the fixed part of the first linear module 42 is fixedly connected to the frame, the fixed part of the second linear module 43 is fixedly connected to the movable part of the first linear module 42, and the core removing poking needle assembly 44 is fixedly connected to the movable part of the second linear module 43;
the first linear module 42 is arranged parallel to the Y axis, so as to drive the second linear module 43 and the core removing poking needle assembly 44 to translate along the Y axis; the second linear module 43 is arranged parallel to the X-axis, thereby driving the coring pin assembly 44 to translate along the X-axis.
The core removing and poking needle assembly 44 comprises a poking needle bracket 441, a first core removing cylinder 442 and a second core removing cylinder 445 fixed on the poking needle bracket 441, wherein the poking needle bracket 441 is in a C shape, the first core removing cylinder 442 and the second core removing cylinder 445 are respectively and fixedly connected to two sides of a C-shaped opening of the poking needle bracket 441, and the first core removing cylinder 442 and the second core removing cylinder 445 are both arranged parallel to a Z axis;
the first core removing cylinder 442 is fixedly connected with a first poking needle 443, the second core removing cylinder 445 is fixedly connected with a second poking needle 444, and the first poking needle 443 and the second poking needle 444 are both positioned in the C-shaped opening of the poking needle bracket 441 and are coaxial.
The fresh lotus seed core removing machine further comprises a conveying guide device 2, wherein the conveying guide device 2 comprises a driving motor 21, a driving sprocket 22, a conveying guide chain 23, a driven sprocket 24, a damping support plate 25, a photoelectric sensor 26, a pressing device 27, a sorting and blanking nozzle 281, a sorting and blanking pipeline 282, a blanking pipeline 283, a processed lotus seed collecting box 291 and a unprocessed lotus seed collecting box 292;
the conveying guide chain 23 comprises a plurality of guide rollers 231, a plurality of pairs of roller mounting plates 232 and a pair of roller chains 233;
the pair of roller chains 233 bypass the driving sprocket 22 and the driven sprocket 24, and the driving sprocket 22 is linked with the driving motor 21, so that the pair of roller chains 233 synchronously run under the drive of the driving motor 21; the guide rollers 231 are all arranged parallel to the Z axis, and two ends of the guide rollers 231 are respectively hinged with a pair of roller chains 233 through a pair of roller mounting plates 232, so that the guide rollers 231 can freely rotate around the axes thereof; an annular groove is formed in the middle of the guide roller 231, so that a containing space for containing lotus seeds is formed between adjacent annular grooves;
the damping support plate 25 extends between the driving sprocket 22 and the driven sprocket 24 and contacts with the guide roller 231 positioned above the driving sprocket 22 and the driven sprocket 24, so that the guide roller 231 passively rotates under the influence of friction between the guide roller 231 and the damping support plate 25 when passing through the damping support plate 25;
the photoelectric sensor 26 is fixedly connected to one side of the conveying guide chain 23 and is positioned in front of the core removing executing mechanism 4 and used for detecting whether lotus seeds are ready to enter the core removing station;
the pressing device 27 comprises a pressing rod 271 and a pressing cylinder 272, wherein the pressing rod 271 is positioned right above the core removing station and is driven by the pressing cylinder 272 to reciprocate.
The top opening of the blanking pipeline 283 is arranged below the tail end of the lotus seed conveyed by the conveying guide chain 23, and the bottom opening of the blanking pipeline 283 is communicated with the lotus seed collecting box 291, so that lotus seeds subjected to core removing operation are collected; the lotus seeds after core removal continue to be conveyed forwards until the lotus seeds freely fall to the top opening of a blanking pipeline 283 arranged below the conveying guide chain, and the lotus seeds enter a lotus seed processing collecting box 291 through the blanking pipeline 283 to finish blanking collection;
the sorting blanking nozzle 281 and the sorting blanking pipeline 282 are respectively arranged at two sides of the conveying guide chain 23 and at two sides of a next station of the decoring station, lotus seeds which are not decored are blown into the sorting blanking pipeline 282 through the sorting blanking nozzle 281, and the sorting blanking pipeline 282 is communicated with the unprocessed lotus seed collecting box 292, so that lotus seeds which are not subjected to the decoring operation are collected.
The fresh lotus seed core removing machine further comprises a feeding device 1, wherein the feeding device 1 comprises a main hopper 11, a conveying channel 12, a direct-vibration motor 13, a flow guiding elastic sheet 14, a feeding cylinder 15 and an auxiliary material hopper 16;
the auxiliary material hopper 16 is fixedly connected above the conveying guide chain 23 and is positioned on one side of the damping support plate 25 far away from the core actuating mechanism 4; the conveying channel 12 is connected above the auxiliary hopper 16 through a direct-vibration motor 13, and an outlet of the conveying channel 12 is positioned right above the auxiliary hopper 16; the main hopper 11 is fixedly connected to one side of the conveying channel 12 away from the auxiliary hopper 16, and an outlet of the main hopper 11 is positioned right above the conveying channel 12;
the guide elastic sheet 14 is arc-shaped and is arranged in the middle of the conveying channel 12 along the length direction of the conveying channel, and the guide elastic sheet is made of elastic materials;
an outlet for accommodating single lotus seeds is formed in the side wall of the conveying channel 1, the feeding cylinder 15 is fixedly connected to the conveying channel 12, a piston rod of the feeding cylinder 15 extends into the outlet of the conveying channel 12, and the outlet of the conveying channel 12 is opened or closed through reciprocating motion of the piston rod.
The image processing module is used for preprocessing images acquired by the two cameras firstly; because the position of the lotus seeds after being guided at the core removing station is relatively fixed, and at least one camera can shoot the dark area of the heads of the lotus seeds, the orientation of the tails of the lotus seeds can be identified through the gray features of the heads and the tails of the lotus seeds; further preprocessing the lotus seed tail region image to highlight lotus seed tail salient points, and identifying tail salient point coordinate positions by adopting a corner detection algorithm; calculating the space coordinates of the convex points at the tail of the lotus seeds according to coordinate conversion; and finally, sending the tail direction of the lotus seeds and the tail bump coordinate information to a control system.
The image preprocessing mainly comprises the steps of cutting an image, binarizing the image and morphological processing the image;
the gray level characteristics of the lotus seed head and tail refer to the dark area outside the lotus seed as the head and the light area as the tail, namely the gray level value of the lotus seed tail image is lower than that of the head image;
at least one of the first camera or the second camera can acquire a characteristic image of a dark area of the head of the lotus seed, and the position of the lotus seed is relatively fixed, so that the tail direction of the lotus seed is identified through the difference of the contrast gray values; the corner detection algorithm means that the convex points at the tail of the lotus seeds are outwards protruded, obvious corners exist in the images of the tail areas, and the coordinate positions of the convex points at the tail are identified through the corner detection algorithm.
In order to overcome the defects in the prior art, the invention discovers that a salient point is formed at the tail part of lotus seeds at the growth joint of lotus seeds and lotus meat through observing the physical characteristics of lotus seeds and the actual production process, the core is removed from the salient point position at the tail part of the lotus seeds, the core removing effect is best, and if the quality and the efficiency of core removing are required to be improved, the core is removed from the salient point position at the tail part of the lotus seeds, so that the positioning of the salient point position becomes difficult.
Therefore, the machine vision recognition system is introduced to collect and process the images of the fresh lotus seeds in real time, recognize the tail direction of the lotus seeds and the position coordinates of the salient points in real time, control the core removing executing mechanism to accurately remove the cores from the salient points of the tail parts of the lotus seeds, improve the success rate of removing the cores of the fresh lotus seeds and reduce the damage rate of the lotus seeds.
The beneficial effects obtained by the invention are as follows: the method comprises the steps of acquiring an image of lotus seeds at a core removing station on line by adopting a machine vision device, identifying tail directions and tail bump coordinate positions of the lotus seeds by an image processing module, transmitting tail directions and tail bump coordinate information to a control system in real time, controlling corresponding linear modules on a core removing executing mechanism to move by the control system in real time, accurately positioning the tail bump positions, driving a poking needle and a nozzle in corresponding directions to act, and accurately completing core removing operation; the lotus seeds which are not successfully identified in the tail direction information of the lotus seeds and the coordinate positions of the convex points are not subjected to core removing operation, and are separated through a sorting device; the control system can effectively control the system according to the material signals detected by the photoelectric sensor, and image recognition and core removal operations are not performed during material shortage. The invention has the advantages of accurate visual positioning, low requirements on lotus seed varieties, producing places and size consistency, high success rate, low breakage rate, reliable operation, convenient maintenance and the like.
Drawings
Figure 1 is a schematic view of the structure of the present case,
figure 2 is a schematic structural view of the feeding device in the present case,
FIG. 3 is a schematic diagram of the structure of the conveying guide device in the present case,
figure 4 is a top view of the present delivery guide,
figure 5 is a cross-sectional view taken along A-A of figure 4,
figure 6 is a schematic structural view of the core removing actuator in the present case,
figure 7 is a top view of the present decoring actuator,
figure 8 is a cross-sectional view taken along the direction B-B in figure 7,
figure 9 is a cross-sectional view taken along line C-C of figure 7,
figure 10 is a schematic view of the coordinate system in the present case,
figure 11 is a flowchart of the overall operation of the present case,
FIG. 12 is a workflow diagram of image processing in the present case;
in the figure, 1 is a feeding device, 11 is a main hopper, 12 is a conveying channel, 13 is a direct-vibration motor, 14 is a flow guiding elastic sheet, 15 is a feeding cylinder, and 16 is an auxiliary hopper;
2 is a conveying guide device, 21 is a movable motor, 22 is a driving sprocket, 23 is a conveying guide chain, 24 is a driven sprocket, 25 is a damping support plate, 26 is a photoelectric sensor, 27 is a material pressing device, 271 is a material pressing rod, and 272 is a material pressing cylinder; 281 is a sorting blanking nozzle, 282 is a sorting blanking pipeline, 283 is a blanking pipeline, 291 is a processed lotus seed collecting box, 292 is a unprocessed lotus seed collecting box;
3 is a machine vision device, 31 is a first camera mount, 32 is a first camera, 33 is a light source, 34 is a second camera, 35 is a second camera mount;
4 is a core removing actuator, 41 is a core removing actuator bracket;
42 is a first linear module, 421 is a first motor, 422 is a first lead screw, 423 is a first limit switch, 424 is a first nut, 425 is a first slider, 426 is a first fixed seat;
43 is a second linear module, 431 is a second motor, 432 is a second lead screw, 433 is a second limit switch, 434 is a second nut, 435 is a second slider, 436 is a second fixed seat;
44 is a core removing poking needle assembly, 441 is a poking needle bracket, 442 is a first core removing cylinder, 443 is a first poking needle, 444 is a second poking needle, 445 is a second core removing cylinder;
and 5 is a frame.
Detailed Description
In order to clearly illustrate the technical features of the present patent, the following detailed description will make reference to the accompanying drawings.
The invention is shown in figures 1-12, and comprises a machine vision device 3 for collecting fresh lotus seed images and a core removing executing mechanism 4 for executing core removing operation;
the machine vision device 3 comprises a first camera 32 and a second camera 34 which are respectively positioned at two sides of a lotus seed core removing station, and images of the lotus seeds positioned in the lotus seed core removing station are acquired through the first camera 32 and the second camera 34; when the chain is conveyed to the core removing station, the chain can stay for a short time so as to facilitate image processing and core removing operation;
the core removing executing mechanism 4 comprises a first linear module 42, a second linear module 43 and a core removing poking needle assembly 44, wherein the core removing poking needle assembly 44 is horizontally arranged, the core removing poking needle assembly 44 is driven to translate through the first linear module 42 and the second linear module 43, and core removing operation is completed through the action of the core removing poking needle assembly 44.
The fresh lotus seed core removing machine also comprises an image processing module and a control system;
the image processing module recognizes the direction of the lotus seed tail and the position of the bump of the lotus seed tail according to the image collected by the machine vision device 3, and sends the position to the control system after calculating the space coordinates of the bump of the lotus seed tail;
the control system controls the first linear module 42 and the second linear module 43 according to the space coordinates of the protruding points of the lotus seed tail, so that the core removing poking needle in the core removing poking needle assembly 44 translates to a position coaxial with the protruding points of the lotus seed tail, and then controls the corresponding core removing poking needle (namely the core removing poking needle close to the protruding points of the lotus seed tail) according to the orientation of the lotus seed tail to finish the core removing operation of the lotus seed.
The machine vision device 3 further comprises a light source 33 arranged towards the decoring station. Thereby effectively increasing the brightness of the location of the coring station and facilitating the acquisition of images by the first camera 32 and the second camera 34.
As shown in fig. 1 and 10, the first camera 32 and the second camera 34 are respectively fixedly connected to the frame and both are disposed towards the core removing station, the first camera 32 is disposed parallel to the Y axis, and the second camera 34 is disposed parallel to the X axis.
The first camera 32 is fixedly connected to the frame 5 through the first camera bracket 31, the second camera 34 is fixedly connected to the frame through the second camera bracket 35, and the first camera 32 and the second camera 34 are symmetrically arranged on two sides of the core removing station and have orthogonal central axes.
As shown in fig. 6-10, the first linear module 42 and the second linear module 43 are both linear driving mechanisms, and both have a fixed portion and a movable portion;
the fixed part of the first linear module 42 is fixedly connected to the frame through a core removing executing mechanism bracket 41, the fixed part of the second linear module 43 is fixedly connected to the movable part of the first linear module 42, and the core removing poking needle assembly 44 is fixedly connected to the movable part of the second linear module 43;
the first linear module 42 is arranged parallel to the Y axis, so as to drive the second linear module 43 and the core removing poking needle assembly 44 to translate along the Y axis; the second linear module 43 is arranged parallel to the X-axis, thereby driving the coring pin assembly 44 to translate along the X-axis.
As shown in fig. 7-9, the first linear module 42 includes a first motor 421, a first lead screw 422, a first limit switch 423, a first nut 424, a first slider 425, and a first fixing seat 426, where the first slider 425 is a movable portion of the first linear module 42, the first fixing seat 426 is fixedly connected to the frame through a coring actuator support 41, the first motor 421 is fixedly connected to the first fixing seat 426, two ends of the first lead screw 422 are hinged to the first fixing seat 426 and are linked with the first motor 421, the first lead screw 422 is parallel to the Y axis, the first slider 425 is slidably connected to the first fixing seat 426 along the Y direction, the first nut 424 is fixedly connected to the first slider 425, the first nut 424 is sleeved with the first lead screw 422, and the first nut 424 is in threaded connection with the first lead screw 422.
The first limit switch 423 is fixedly connected to the first fixing seat 426, and is used for limiting the maximum moving distance of the first slider 425.
As shown in fig. 7-9, the second linear module 43 includes a second motor 431, a second lead screw 432, a second limit switch 433, a second nut 434, a second slider 435 and a second fixing seat 436, where the second slider 435 is a movable portion of the second linear module 43, the second fixing seat 436 is fixedly connected to the first slider 425, the second motor 431 is fixedly connected to the second fixing seat 436, two ends of the second lead screw 432 are hinged to the second fixing seat 436 and are linked with the second motor 431, the second lead screw 432 is parallel to the X axis, the second slider 435 is slidably connected to the second fixing seat 436 along the X direction, the second nut 434 is fixedly connected to the second slider 435, the second nut 434 is sleeved with the second lead screw 432, and the second nut 434 is in threaded connection with the second lead screw 432.
The second limit switch 433 is fixedly connected to the second fixing seat 436, and is used for limiting the maximum moving distance of the second slider 435.
In this way, the first motor 421 drives the first slider 425 in the first linear module 42 to translate along the Y direction, the second motor 431 drives the second slider 435 in the second linear module 43 to translate along the X direction, and the core removing poking needle assembly 44 is translated by a corresponding distance according to the tail bump position coordinates sent by the image processing module; and in the moving process, the first limit switch 423 and the second limit switch 433 limit the maximum safe moving distance.
As shown in fig. 6 and 10, the core removing poking needle assembly 44 includes a poking needle bracket 441, and a first core removing cylinder 442 and a second core removing cylinder 445 fixed thereon, the poking needle bracket is fixedly connected to the second slider 435 in the second linear module 43, the poking needle bracket 441 is C-shaped, the first core removing cylinder 442 and the second core removing cylinder 445 are respectively and fixedly connected to two sides of the C-shaped opening of the poking needle bracket 441, and the first core removing cylinder 442 and the second core removing cylinder 445 are both arranged parallel to the Z axis;
the first core removing cylinder 442 is fixedly connected with a first poking needle 443, the second core removing cylinder 445 is fixedly connected with a second poking needle 444, and the first poking needle 443 and the second poking needle 444 are both positioned in the C-shaped opening of the poking needle bracket 441 and are coaxial.
The first poking needle 443 and the second poking needle 444 are connected with core removing nozzles, so that the core removing cylinders in corresponding directions are controlled to work according to tail direction signals sent by the control system, namely the core removing cylinders close to protruding points of the tail parts of lotus seeds, the poking needles are driven to linearly move along the Z direction, lotus seeds are poked in the Z direction from the positions of the protruding points, and then the poked lotus cores can be removed by blowing through the nozzles arranged on the poking needles, so that the core removing operation is completed.
As shown in fig. 10, the coordinate system established by the present invention has an X-axis parallel to the second camera 34 axis and a Y-axis parallel to the first camera 32 axis, the X-axis and the Y-axis intersecting at an origin O, and a Z-axis perpendicular to the XOY plane. The first camera 32 can obtain the image coordinates (X, Z) of the lotus seed tail salient point through calculation of the image processing module, the second camera 34 can obtain the image coordinates (Y, Z) of the lotus seed tail salient point, and the space coordinates (X, Y, Z) of the lotus seed tail salient point can be obtained through coordinate conversion. However, the lotus seed position is relatively fixed, the movement of the core removing poking needle can be customized and driven by the core removing cylinder, so that a Z-axis coordinate is not needed, the core removing executing mechanism can be guided to carry out bump positioning only by an (X, Y) coordinate, and then the core removing poking needle in the corresponding direction is driven according to the tail bump orientation information to complete the core removing operation.
As shown in fig. 3-5, the fresh lotus seed core removing machine further comprises a conveying and guiding device 2, wherein the conveying and guiding device 2 comprises a driving motor 21, a driving sprocket 22, a conveying and guiding chain 23, a driven sprocket 24, a damping supporting plate 25, a photoelectric sensor 26, a pressing device 27, a sorting and blanking nozzle 281, a sorting and blanking pipeline 282, a blanking pipeline 283, a processed lotus seed collecting box 291 and a unprocessed lotus seed collecting box 292, which provide driving force;
the conveying guide chain 23 comprises a plurality of guide rollers 231, a plurality of pairs of roller mounting plates 232 and a pair of roller chains 233;
the pair of roller chains 233 bypass the driving sprocket 22 and the driven sprocket 24, and the driving sprocket 22 is linked with the driving motor 21, so that the pair of roller chains 233 synchronously run under the drive of the driving motor 21; the guide rollers 231 are all arranged parallel to the Z axis, and two ends of the guide rollers 231 are respectively hinged with a pair of roller chains 233 through a pair of roller mounting plates 232, so that the guide rollers 231 can freely rotate around the axes thereof; an annular groove is formed in the middle of the guide roller 231, so that a containing space for containing lotus seeds is formed between adjacent annular grooves; thus, unlike the holding space with arc-shaped or conical section in the prior art, the bottom of the annular groove is planar and is vertical to the two side walls of the annular groove, the problem that the lotus seeds form the optimal tangential plane with the holding space due to surface contact is avoided in a point contact mode, so that the axis of the long shaft and the axis of the lotus plumule of the lotus seeds are parallel to the Z axis after the lotus seeds are subjected to subsequent alignment, and the problems of inclination and deflection of the axis of the long shaft of the lotus seeds are avoided;
the damping support plate 25 extends between the driving sprocket 22 and the driven sprocket 24 and contacts with the guide roller 231 positioned above the driving sprocket 22 and the driven sprocket 24, so that the guide roller 231 passively rotates under the influence of friction between the guide roller 231 and the damping support plate 25 when passing through the damping support plate 25; therefore, when the guide roller bearing lotus seeds passes through the damping support plate, the lotus seeds are guided by rotating around the axis of the guide roller, so that the axis of the long axis of the lotus seeds and the axis of the lotus plumule can be parallel to the Z axis;
the photoelectric sensor 26 is fixedly connected to one side of the conveying guide chain 23 and is positioned in front of the core removing executing mechanism 4 and used for detecting whether lotus seeds are ready to enter the core removing station;
the pressing device 27 comprises a pressing rod 271 and a pressing cylinder 272, wherein the pressing rod 271 is positioned right above the core removing station and is driven by the pressing cylinder 272 to reciprocate. The pressing rod 271 extends into the C-shaped opening of the poking needle bracket 441, when the pressing rod 271 descends, the lotus seeds in the accommodating space below the pressing rod 271 can be pressed, so that the lotus seeds temporarily stay at the position, and the position can be also called as a core removing station. When lotus seeds enter a coring station, the material pressing rod downwards presses the lotus seeds so as to facilitate the subsequent machine vision device 3 to collect fresh lotus seed images and the coring execution mechanism 4 to execute coring operation;
the top opening of the blanking pipeline 283 is arranged below the tail end of the lotus seed conveyed by the conveying guide chain 23, and the bottom opening of the blanking pipeline 283 is communicated with the lotus seed collecting box 291, so that lotus seeds subjected to core removing operation are collected; the lotus seeds after core removal continue to be conveyed forwards until the lotus seeds freely fall to the top opening of a blanking pipeline 283 arranged below the conveying guide chain, and the lotus seeds enter a lotus seed processing collecting box 291 through the blanking pipeline 283 to finish blanking collection;
the sorting blanking nozzle 281 and the sorting blanking pipeline 282 are respectively arranged at two sides of the conveying guide chain 23 and at two sides of a next station of the decoring station, lotus seeds which are not decored are blown into the sorting blanking pipeline 282 through the sorting blanking nozzle 281, and the sorting blanking pipeline 282 is communicated with the unprocessed lotus seed collecting box 292, so that lotus seeds which are not subjected to the decoring operation are collected. Thus, for step S5, when the orientation signals of the two camera images are not consistent, the lotus seeds which are not subjected to subsequent steps S6-S9, namely, the lotus seeds which are not subjected to core removal, are sorted.
As shown in fig. 1-2, the fresh lotus seed core removing machine further comprises a feeding device 1, wherein the feeding device 1 comprises a main hopper 11, a conveying channel 12, a direct vibration motor 13, a flow guiding elastic sheet 14, a feeding cylinder 15 and an auxiliary material hopper 16;
the auxiliary material hopper 16 is fixedly connected above the conveying guide chain 23 and is positioned on one side of the damping support plate 25 far away from the core actuating mechanism 4; the conveying channel 12 is connected above the auxiliary hopper 16 through a direct-vibration motor 13, and an outlet of the conveying channel 12 is positioned right above the auxiliary hopper 16; the main hopper 11 is fixedly connected to one side of the conveying channel 12 away from the auxiliary hopper 16, and an outlet of the main hopper 11 is positioned right above the conveying channel 12; so that the lotus seeds can enter the conveying channel from the outlet after entering the main hopper and finally fall on the conveying guide chain 23 through the auxiliary material hopper;
the guide elastic sheet 14 is arc-shaped and is arranged in the middle of the conveying channel 12 along the length direction of the conveying channel, and the guide elastic sheet is made of elastic materials; thereby ensuring smooth lotus seed feeding process without blocking materials;
an outlet for accommodating single lotus seeds is formed in the side wall of the conveying channel 1, the feeding cylinder 15 is fixedly connected to the conveying channel 12, a piston rod of the feeding cylinder 15 extends into the outlet of the conveying channel 12, and the outlet of the conveying channel 12 is opened or closed through reciprocating motion of the piston rod. When in actual use, the movement period of the feeding cylinder and the operation period of the conveying guide device can be controlled to be consistent, so that lotus seeds drop into the accommodating space one by one, and the feeding stability is ensured.
As shown in fig. 11-12, the image processing module first pre-processes the images acquired by the two cameras; because the position of the lotus seeds after being guided at the core removing station is relatively fixed, and at least one camera can shoot the dark area of the heads of the lotus seeds, the orientation of the tails of the lotus seeds can be identified through the gray features of the heads and the tails of the lotus seeds; further preprocessing the lotus seed tail region image to highlight lotus seed tail salient points, and identifying tail salient point coordinate positions by adopting a corner detection algorithm; calculating the space coordinates of the convex points at the tail of the lotus seeds according to coordinate conversion; and finally, sending the tail direction of the lotus seeds and the tail bump coordinate information to a control system.
The image preprocessing mainly comprises the steps of cutting an image to improve the processing speed, binarizing the image to highlight the convex points at the tail of lotus seeds, and morphological processing the image to eliminate image noise;
the gray level characteristics of the lotus seed heads and tails mainly refer to that dark areas outside lotus seeds are heads and light areas outside lotus seeds are tails, namely gray level values of images of the lotus seed tails are lower than gray level values of images of the heads;
at least one of the first camera or the second camera can acquire a characteristic image of a dark area of the head of the lotus seed, and the position of the lotus seed is relatively fixed, so that the tail direction of the lotus seed is identified through the difference of the contrast gray values; the corner detection algorithm mainly refers to that the convex points at the tail parts of lotus seeds are outwards protruded, obvious corners exist in the images of the tail areas, and the coordinate positions of the convex points at the tail parts are identified through the corner detection algorithm.
The working process of the invention specifically comprises the following steps:
s1, lotus seed feeding: the shelled and peeled lotus seeds are guided into a main hopper 11, and the lotus seeds are fed by a feeding device 1, so that the lotus seeds enter a conveying guide chain one by one;
s2, lotus seed conveying and guiding: the lotus seeds are conveyed forwards through the conveying and guiding device 2, and when the lotus seeds pass over the damping supporting plate, the guiding rollers rotate under the action of friction force to guide the lotus seeds;
s3, incoming material detection: the photoelectric sensor 26 is used for detecting the incoming materials of the lotus seeds after being guided, and judging whether the lotus seeds pass through; when lotus seeds pass, a signal is sent to a control system; otherwise, continuing to detect; during continuous processing, the photoelectric sensor can be kept to work continuously, and the detection of the lotus seeds passing by can be kept;
s4, pressing down the compression bar: the 5 stations are delayed to control the pressure lever cylinder 272 to drive the pressure lever 271 to press down, so that lotus seeds stay at the core removing station;
s5, image processing: triggering the first camera 32 and the second camera 34 to acquire images, processing the images in parallel by an image processing module, firstly dividing the images, then comparing gray features to distinguish tail orientations, and when the orientation signals of the two camera images are inconsistent, not executing subsequent operations and waiting for the next camera triggering signal; when the orientation signals are consistent, taking tail area images of the two images, performing binarization operation on the images, performing corrosion expansion morphological operation to eliminate image noise, and performing corner detection to identify tail salient points; the bump coordinates in the image of the first camera are obtained to be (X, Z), the bump coordinates in the image of the second camera are obtained to be (Y, Z), the core removing executing mechanism 4 can be guided to conduct bump positioning only by the (X, Y) coordinates of the bump space coordinates, the motion of the Z axis is a fixed value, therefore, the X coordinates and the Y coordinates in the image are taken, the tail coordinates (X, Y) of the XOY plane can be obtained through coordinate conversion, and data are transmitted to the control system according to a Modbus communication protocol;
s6, moving the core removing mechanism: the control system controls the first motor and the second motor in the core removing executing mechanism 4 to act;
s7, bump positioning: when the poking needle in the core removing executing mechanism 4 moves to the corresponding position, namely, the first poking needle and the second poking needle are coaxial with the convex point at the tail part of the lotus seed, the convex point positioning is completed;
s8, poking the needle in the tail direction: the core removing cylinder in the corresponding direction is controlled to drive the core removing poking needle to extend, namely the core removing cylinder I or the core removing cylinder II which are close to the convex point at the tail part of the lotus seed is controlled to work, so that the first poking needle or the second poking needle is penetrated from the convex point position at the tail part of the lotus seed;
s9, removing lotus plumule by blowing: opening a nozzle on the first poking needle or the second poking needle penetrating into the lotus seeds, so that the lotus seeds are removed by blowing, the poking needle is retracted, and the core removing operation is completed;
s10, blanking: the lotus seeds after core removal continue to be conveyed forwards until the lotus seeds freely fall to the top opening of a blanking pipeline arranged below the conveying guide chain, fall into a lotus seed processing collecting box 291 through a blanking pipeline 283 and finish blanking collection; for step S5, when the orientation signals of the two camera images are inconsistent, the lotus seeds in the following steps S6-S9, i.e. the lotus seeds without the cores, are not executed, and after the conveying guide chain continues to move forward, so that the lotus seeds advance by one station, the lotus seeds are blown into the sorting blanking pipeline 282 by the sorting blanking nozzle 281 arranged at one side of the conveying guide chain, and fall into the unprocessed lotus seed collecting box 292 to finish sorting.
While there have been described what are believed to be the preferred embodiments of the present invention, it will be apparent to those skilled in the art that many more modifications are possible without departing from the principles of the invention.
Claims (8)
1. The fresh lotus seed coring machine based on machine vision is characterized by comprising a machine vision device (3) for collecting fresh lotus seed images and a coring execution mechanism (4) for executing coring operation;
the machine vision device (3) comprises a first camera (32) and a second camera (34) which are positioned at two sides of a lotus seed coring station, and images of lotus seeds positioned in the coring station are acquired through the first camera (32) and the second camera (34);
the core removing executing mechanism (4) comprises a first linear module (42), a second linear module (43) and a core removing poking needle assembly (44), wherein the core removing poking needle assembly (44) is horizontally arranged, the core removing poking needle assembly (44) is driven to translate through the first linear module (42) and the second linear module (43), and core removing operation is completed through the action of the core removing poking needle assembly (44);
the first camera (32) and the second camera (34) are respectively and fixedly connected to the frame and both are arranged towards the core removing station, the first camera (32) is arranged parallel to the Y axis, and the second camera (34) is arranged parallel to the X axis;
the fresh lotus seed core removing machine further comprises a conveying guide device (2), wherein the conveying guide device (2) comprises a driving motor (21), a driving sprocket (22), a conveying guide chain (23), a driven sprocket (24), a damping support plate (25), a photoelectric sensor (26), a pressing device (27), a sorting blanking nozzle (281), a sorting blanking pipeline (282), a blanking pipeline (283), a processed lotus seed collecting box (291) and a unprocessed lotus seed collecting box (292);
the conveying guide chain (23) comprises a plurality of guide rollers (231), a plurality of pairs of roller mounting plates (232) and a pair of roller chains (233);
the pair of roller chains (233) bypass the driving sprocket (22) and the driven sprocket (24), and the driving sprocket (22) is linked with the driving motor (21) so that the pair of roller chains (233) synchronously run under the drive of the driving motor (21); the guide rollers (231) are arranged parallel to the Z axis, and two ends of the guide rollers (231) are hinged with a pair of roller chains (233) through a pair of roller mounting plates (232) respectively, so that the guide rollers (231) can freely rotate around the axes of the guide rollers; an annular groove is formed in the middle of the guide roller (231), so that a containing space for containing lotus seeds is formed between adjacent annular grooves;
the damping support plate (25) stretches into the space between the driving sprocket (22) and the driven sprocket (24) and is in contact with the guide roller (231) positioned above the driving sprocket (22) and the driven sprocket (24), so that the guide roller (231) passively rotates under the influence of friction force between the guide roller and the damping support plate (25) when passing through the damping support plate (25);
the photoelectric sensor (26) is fixedly connected to one side of the conveying guide chain (23) and is positioned in front of the core removing executing mechanism (4) and used for detecting whether lotus seeds are ready to enter a core removing station or not;
the material pressing device (27) comprises a material pressing rod (271) and a material pressing cylinder (272), wherein the material pressing rod (271) is positioned right above the core removing station and is driven by the material pressing cylinder (272) to reciprocate;
the top opening of the blanking pipeline (283) is arranged below the tail end of the conveying guide chain (23), and the bottom opening of the blanking pipeline (283) is communicated with a lotus seed collecting box (291) for processing lotus seeds, so that lotus seeds subjected to core removing operation are collected;
the sorting blanking nozzle (281) and the sorting blanking pipeline (282) are respectively arranged at two sides of the conveying guide chain (23) and at two sides of the next station of the core removing station, the lotus seeds which are not subjected to core removing are blown into the sorting blanking pipeline (282) through the sorting blanking nozzle (281), and the sorting blanking pipeline (282) is communicated with the unprocessed lotus seed collecting box (292), so that the lotus seeds which are not subjected to core removing operation are collected;
the fresh lotus seed core removing machine also comprises an image processing module;
the image processing module identifies the tail direction of the lotus seeds and the bump positions of the tail of the lotus seeds according to the images acquired by the machine vision device (3).
2. The machine vision based fresh lotus seed coring machine of claim 1, further comprising a control system;
the image processing module identifies the tail direction of the lotus seeds and the positions of the protruding points of the tail of the lotus seeds according to the images acquired by the machine vision device (3), calculates the space coordinates of the protruding points of the tail of the lotus seeds and sends the space coordinates to the control system;
the control system controls the first linear module (42) and the second linear module (43) according to the space coordinates of the protruding points at the tail of the lotus seeds, so that the core removing poking needle in the core removing poking needle assembly (44) translates to a position coaxial with the protruding points at the tail of the lotus seeds, and then controls the corresponding core removing poking needle according to the tail direction of the lotus seeds to finish the core removing operation of the lotus seeds.
3. Machine vision based fresh lotus seed decoring machine according to claim 1 or 2, characterized in that the machine vision device (3) further comprises a light source (33) arranged towards the decoring station.
4. Machine vision based fresh lotus seed coring machine according to claim 1 or 2, characterized in that the first linear module (42) and the second linear module (43) are both linear driving mechanisms and both have a fixed part and a movable part;
the fixing part of the first linear module (42) is fixedly connected to the frame, the fixing part of the second linear module (43) is fixedly connected to the movable part of the first linear module (42), and the core removing poking needle assembly (44) is fixedly connected to the movable part of the second linear module (43);
the first linear module (42) is arranged parallel to the Y axis, so that the second linear module (43) and the core removing poking needle assembly (44) are driven to translate along the Y axis; the second linear module (43) is arranged parallel to the X axis, so as to drive the core removing poking needle assembly (44) to translate along the X axis.
5. The machine vision-based fresh lotus seed coring machine according to claim 1 or 2, wherein the coring poking needle assembly (44) comprises a poking needle bracket (441), a first coring cylinder (442) and a second coring cylinder (445) fixed on the poking needle bracket (441), the poking needle bracket (441) is in a C shape, the first coring cylinder (442) and the second coring cylinder (445) are respectively and fixedly connected to two sides of a C-shaped opening of the poking needle bracket (441), and the first coring cylinder (442) and the second coring cylinder (445) are both arranged parallel to the Z axis;
the first core removing cylinder (442) is fixedly connected with a first poking needle (443), the second core removing cylinder (445) is fixedly connected with a second poking needle (444), and the first poking needle (443) and the second poking needle (444) are both positioned in the C-shaped opening of the poking needle bracket (441) and are coaxial.
6. The machine vision-based fresh lotus seed coring machine according to claim 1, wherein the fresh lotus seed coring machine further comprises a feeding device (1), and the feeding device (1) comprises a main hopper (11), a conveying channel (12), a direct vibration motor (13), a guide spring piece (14), a feeding cylinder (15) and an auxiliary material hopper (16);
the auxiliary material hopper (16) is fixedly connected above the conveying guide chain (23) and is positioned at one side of the damping support plate (25) far away from the core actuating mechanism (4); the conveying channel (12) is connected above the auxiliary hopper (16) through a direct vibration motor (13), and the outlet of the conveying channel (12) is positioned right above the auxiliary hopper (16); the main hopper (11) is fixedly connected to one side of the conveying channel (12) away from the auxiliary hopper (16), and an outlet of the main hopper (11) is positioned right above the conveying channel (12);
the guide elastic piece (14) is arc-shaped and is arranged in the middle of the conveying channel (12) along the length direction of the conveying channel, and the guide elastic piece is made of an elastic material;
an outlet for containing single lotus seeds is formed in the side wall of the conveying channel (12), the feeding cylinder (15) is fixedly connected to the conveying channel (12), a piston rod of the feeding cylinder (15) stretches into the outlet of the conveying channel (12), and the outlet of the conveying channel (12) is opened or closed through reciprocating motion of the piston rod.
7. The machine vision-based fresh lotus seed coring machine according to claim 1 or 2, wherein the image processing module first pre-processes the images collected by the two cameras; because the position of the lotus seeds after being guided at the core removing station is relatively fixed, and at least one camera can shoot the dark area of the heads of the lotus seeds, the orientation of the tails of the lotus seeds can be identified through the gray features of the heads and the tails of the lotus seeds; further preprocessing the lotus seed tail region image to highlight lotus seed tail salient points, and identifying tail salient point coordinate positions by adopting a corner detection algorithm; calculating the space coordinates of the convex points at the tail of the lotus seeds according to coordinate conversion; and finally, sending the tail direction of the lotus seeds and the tail bump coordinate information to a control system.
8. The machine vision based fresh lotus seed coring machine according to claim 7, wherein said image preprocessing mainly comprises clipping an image, binarizing the image, and morphologically processing the image;
the gray level characteristics of the lotus seed head and tail refer to the dark area outside the lotus seed as the head and the light area as the tail, namely the gray level value of the lotus seed tail image is lower than that of the head image;
at least one of the first camera or the second camera can acquire a characteristic image of a dark area of the head of the lotus seed, and the position of the lotus seed is relatively fixed, so that the tail direction of the lotus seed is identified through the difference of the contrast gray values; the corner detection algorithm means that the convex points at the tail of the lotus seeds are outwards protruded, obvious corners exist in the images of the tail areas, and the coordinate positions of the convex points at the tail are identified through the corner detection algorithm.
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