CN112560575B - Red Fuji apple shape data enhancement device and method - Google Patents
Red Fuji apple shape data enhancement device and method Download PDFInfo
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Abstract
The embodiment of the invention provides a red Fuji apple shape data enhancing device and method, wherein under the control of a controller on the following devices, apples are photographed by a shape data acquiring device to form an original data set; classifying and calibrating pictures in the original data set by a data classifying device to obtain a calibrated data set; a data cutting device is used for defining an area of interest for pictures in the calibration data set, cutting and eliminating noise, and reserving the area of interest to form a sample data set; and inputting the sample data set into a deep convolution generating countermeasure network through a picture generating device, performing training processing, generating new apple pictures, and forming a result data set to obtain the enhancement data of the appearance of the Fuji apples.
Description
Technical Field
The invention relates to the technical field of artificial intelligence and deep learning, in particular to a red Fuji apple shape data enhancement device and method.
Background
The apple industry is one of important fruit and vegetable industries in China, and research on the appearance of apples is an important link for improving the quality of apples and promoting forward development of the apple industry. But currently, large-scale apple picture data with good quality and complete grading is lacking when relevant research is carried out on apples. Most of apple shape data adopted by researches are small sample data which are photographed by researchers, manual photographing is adopted by photographing means, the working efficiency is low, the workload is large, the photographing environment is not standard, the quality of the obtained shape data is often different due to factors such as photographers, the sample size of the data is too small, the whole research cannot achieve the expected purpose easily, and the subsequent data analysis is seriously influenced.
Disclosure of Invention
The embodiment of the invention provides a red Fuji apple shape data enhancement device and method, which automatically collect the red Fuji apples by taking photos and automatically analyzing and processing the photo data, and obtain amplified photo data by an artificial intelligence method, thereby providing more sufficient data samples for subsequent data analysis.
In order to achieve the above object, in one aspect, an embodiment of the present invention provides a red Fuji apple shape data enhancing apparatus, including:
the appearance data acquisition device 101 is used for photographing apples, and an original data set is formed by photographed pictures;
the data classifying device 102 is used for classifying and calibrating the pictures in the original data set to obtain a calibrated data set;
the data cutting device 103 is configured to define an area of interest for the picture in the calibration data set, cut and reserve the area of interest, median filter the area of interest, and form a sample data set with the picture saved in the area of interest after eliminating noise;
the picture generation device 104 is configured to input the sample data set into a deep convolution generation countermeasure network, perform training processing, generate a new apple picture, and form a result data set;
A controller 105 for controlling the functions of the profile data acquiring device 101, the data classifying device 102, the data cutting device 103, and the picture generating device 104, and storing the data in the execution process of the devices in a memory of the controller.
Further, the profile data acquisition device 101 includes: the apple positioning device comprises a frame 1, an apple transmission device, an apple feeding mechanism, an appearance acquisition device and an apple position adjustment device;
the apple transmission device is arranged on the upper surface of the frame 1 and extends along the upper surface of the frame 1;
the apple feeding mechanism is arranged at one end of the apple transmission device and spans over the apple transmission device;
the appearance acquisition device is arranged at the other end of the apple transmission device and spans over the apple transmission device;
the apple position adjusting device is arranged on the apple transmission device and is positioned below the appearance collecting device.
Further, the apple transmission comprises: a conveyor belt 21, a barrier strip 22;
the conveying belt 21 is positioned on the upper surface of the frame 1, and the conveying direction of the conveying belt 21 is translational movement along the upper surface of the frame 1 from the apple feeding mechanism to the shape acquisition device;
The blocking strips 22 are vertically arranged on the upper surface of the frame 1 and abut against two side edge positions of the conveyor belt 21; the distance between the two barrier strips 22 is greater than the maximum diameter of the apple;
wherein the conveyor belt 21 comprises: a groove 211;
the grooves 211 are used for accommodating apples and are hemispherical, and are uniformly arranged on the conveyor belt 21 along the conveying direction of the conveyor belt 21;
the groove 211 includes: a vent hole 2111;
the vent hole 2111 is provided in the groove 211.
Further, the apple feeding mechanism includes: a cylindrical feed hopper 31;
the cylindrical feed hopper 31 comprises: a stepping motor 311, a rotation shaft 312, a dispersion balloon 313, a rotation impeller 314, and a through hole 315;
wherein,,
a feed inlet is formed in the top of the cylindrical feed hopper 31;
the stepper motor 311 is arranged on the upper side of the inner part of the cylindrical feeding hopper 31;
one end of the rotating shaft 312 is connected with the stepping motor 311, and the other end of the rotating shaft 312 extends to the bottom of the cylindrical feed hopper 31;
the dispersing air bag 313 is connected to one end of the rotating shaft 312 near the bottom of the cylindrical feed hopper 31; the dispersing air bags 313 are used for primarily dispersing apples poured from the feeding holes into the rotating impeller 314;
The number of the rotary impellers 314 is three, and the three rotary impellers 314 are uniformly distributed and fixed on one end of the rotary shaft 312, which is close to the bottom of the cylindrical feed hopper 31, and are positioned below the dispersing air bags 313; an apple outlet is formed in the side wall of the rotary impeller 314;
the through hole 315 is located on the sidewall of the bottom of the cylindrical feeding hopper 31 near the side of the profile collecting device, the center of the through hole 315 is aligned with the central connecting line of the groove 211 on the conveyor belt 21, and when the rotating impeller 314 rotates to face the through hole 315, the center of the through hole 315 is aligned with the center of the apple outlet.
Further, the profile acquisition device includes: a door-shaped frame 41;
the door frame 41 spans the barrier strip 22;
the door-shaped frame 41 is provided with a camera 411, a motor 412, a light supplementing lamp 413 and a monitoring video recorder 414;
the camera 411 is used for taking a picture of the apple;
an output shaft of the motor 412 is connected with a telescopic rod; the telescopic rod is connected with a black rubber plate; the telescopic rod is used for adjusting the position of the black rubber plate under the drive of the motor 412; the black rubber plate is used for providing a black background when the camera 411 takes pictures of apples and intercepting the apples to be taken on the conveyor belt 21;
The light supplement lamp 413 is used for providing the ambient brightness when the camera 411 shoots;
the monitoring video recorder 414 is configured to perform a video recording operation on an apple to be photographed, so as to obtain a position of the apple to be photographed, where the apple is exposed to a photographable range of the camera 411.
Further, the apple position adjustment apparatus includes: the clamping mechanism and the air tap;
the clamping mechanism is positioned below the appearance acquisition device;
the clamping mechanism comprises: two clamping baffles 5111, four toggle inclined plates 5112 and two electric push rods 512;
the two clamping baffles 5111 are symmetrically arranged on two sides of the central connecting line of the groove 211 on the conveyor belt 21 in parallel and are positioned on the inner sides of the two blocking strips 22;
the four toggle inclined plates 5112 are respectively connected to two ends of the two clamping baffle plates 5111, one end of any toggle inclined plate 5112 is connected to the clamping baffle plates 5111, and the other end of the toggle inclined plate 5112 is obliquely adjacent to the blocking strip 22 side Xiang Yanshen;
one end of each electric push rod 512 is connected with one clamping baffle 5111, and the other end of each electric push rod 512 penetrates through the blocking strip 22 adjacent to the clamping baffle 5111 and is mounted on the frame 1 through a connecting seat;
The air tap is positioned below the conveyor belt 21 and aligned with the central connecting line of the groove 211 on the conveyor belt 21; the air tap is connected with the air pump; an electromagnetic control valve is arranged on a connecting pipeline of the air tap and the air pump; the electromagnetic control valve is controlled by the controller; the air tap is used for blowing air to the apples through the vent hole 2111 and finely adjusting the positions of the apples.
Further, the data classification device specifically comprises:
the processing unit of the controller identifies and extracts texture and shape information of pictures in the original data set, divides the pictures of the original data set into three types of special fruits, first fruits and second fruits, and respectively calibrates the divided three types of apple pictures.
Further, the picture generation device includes: a generator and a arbiter;
the generator is used for up-sampling by adopting fractional step convolution;
the discriminator is used for downsampling by adopting integer step convolution;
the picture generation device is specifically configured to:
selecting a type of pictures subjected to noise reduction processing, and inputting the pictures into a generator, wherein the generator generates a new type of pictures; simultaneously inputting a type of pictures subjected to noise reduction treatment and a type of generated new pictures into the discriminator; firstly fixing the generator, training the discriminator, stopping training the discriminator when the output value of the corresponding loss function reaches a preset convergence value, further fixing the discriminator, training the generator, stopping training the generator when the output value of the corresponding loss function reaches the preset convergence value, and continuously updating parameters of the generator and the discriminator until the generator and the discriminator model reach a Nash equilibrium state in a circulating mode.
On the other hand, the embodiment of the invention adopts a red Fuji apple shape data enhancement device, and provides a red Fuji apple shape data enhancement method, which comprises the following steps:
step 201, photographing apples, and forming an original data set by photographed pictures;
step 202, classifying and calibrating pictures in the original data set to obtain a calibrated data set;
step 203, a region of interest is defined for the pictures in the calibration data set, the region of interest is cut and reserved, median filtering is carried out on the region of interest, and after noise is eliminated, a sample data set is formed by the pictures reserved in the region of interest;
and 204, inputting the sample data set into a deep convolution generating countermeasure network, performing training processing, generating a new apple picture, and forming a result data set.
Further, the apple is photographed, and an original data set is formed by photographed pictures, specifically:
pouring apples into the rotary impeller 314 from the feed inlet, controlling the stepping motor 311 by the controller 105 to drive the rotary impeller 314 to slowly rotate, dispersing the apples into the rotary impeller 314 through the dispersing air bags 313, enabling the apples to enter the conveyor belt 21 one by one through an apple outlet arranged on the side wall of the rotary impeller 314 and a through hole 315 on the cylindrical feeding hopper 31, controlling the output shaft of the motor 412 by the controller 105 to drive the telescopic rod to extend when the apples in the groove 211 on the conveyor belt 21 pass through the lower end of the gate-shaped frame 41, driving the black rubber plate to move downwards by the telescopic rod, and simultaneously adjusting the telescopic length of the electric push rod 512 according to the diameter of the apples conveyed to the lower end of the gate-shaped frame 41 by the electric push rod 512, so that the position of the apples is limited; the controller 105 controls the monitoring video recorder 414 to record the position of the apple, the acquired data are uploaded to the controller 105, the controller 105 compares the acquired data with preset data in the controller 105 to determine whether the position of the apple exposed to the photographable range of the camera 411 is a preset area, if the position of the apple exposed to the photographable range of the camera 411 in the groove 211 is not in the preset area, the controller 105 gives the deviation of the apple from the preset area, meanwhile, the controller 105 controls the air tap at the bottom of the corresponding conveyor belt 21 to work, fine adjustment is carried out on the position of the apple until the shot area of the apple is matched with the preset area, and the air tap is closed; meanwhile, the controller 105 adjusts the brightness of the light supplementing lamp 413, supplements light to the apples to be photographed, the camera photographs the apples on one side of the black rubber plate, the motor 412 drives the telescopic rod to shrink after photographing is completed, the black rubber plate rises, the electric push rod 512 shrinks, and the apples are conveyed outwards through the door-shaped frame 41.
Compared with the prior art, the technical scheme has the following beneficial effects:
(1) The device provided by the invention comprises the appearance data acquisition device, the data classification device, the data cutting device and the picture generation device which are respectively connected with the controller, and particularly, the structural arrangement of the appearance data acquisition device enables apples to be sent to the apple transmission device one by one perfectly, so that favorable conditions are provided for subsequent photographing links.
An output shaft of a motor on the door-shaped frame is connected with a telescopic rod, the telescopic rod is connected with a black rubber plate, and the black rubber plate is driven to act, so that on one hand, interception of other apples in the slideway is realized, on the other hand, the photographing environment of the apples is unified to be a black background plate, and meanwhile, a light supplementing lamp is used for polishing the apples, so that photographing effect is improved; in addition, before photographing, the monitoring video recorder firstly records the position of the apple, determines whether the position of the apple exposed to the photographable range of the camera is a preset area or not, if the position of the apple in the groove exposed to the photographable range of the camera is not in the preset area, the controller gives the deviation of the apple from the preset area, meanwhile, in order to conveniently adjust the position of the apple, a clamping mechanism is arranged at the position below the door-shaped frame, a clamping baffle is arranged in the middle, and the two ends of the clamping baffle are respectively connected with a stirring inclined plate, so that the position of the apple is conveniently limited, and meanwhile, the apple is also conveniently entered and discharged; the accurate adjustment to the apple position is realized to the cooperation between air cock, the air pump for the shooting area of apple keeps the homogeneity stable, thereby improves the acquisition quality of original dataset.
(2) According to the invention, the picture generation method for generating the red Fuji apple shape data based on the deep convolution is adopted, when the generated countermeasure network is trained, one type of picture is selected each time to train the generated countermeasure network, and parameters of the generator and the discriminator are continuously updated, so that sample pictures with high quality and complete data in different types and levels are generated more quickly and effectively, and more available reference data are provided for apple shape research.
Drawings
In order to more clearly illustrate the embodiments of the invention or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, it being obvious that the drawings in the following description are only some embodiments of the invention, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic diagram of a red Fuji apple shape data enhancing apparatus according to an embodiment of the present invention;
FIG. 2 is a flowchart of a method for enhancing shape data of Fuji apples according to one embodiment of the invention;
FIG. 3 is a schematic diagram of a device for enhancing shape data of Fuji apples according to one embodiment of the invention;
FIG. 4 is a schematic view of a cylindrical feeding hopper of a red Fuji apple shape data enhancing apparatus according to an embodiment of the present invention;
fig. 5 is a schematic diagram of a clamping mechanism of a red Fuji apple shape data enhancing apparatus according to an embodiment of the present invention;
FIG. 6 is a graph comparing a raw sample of the appearance of Fuji apples with a generated image according to one embodiment of the present invention;
FIG. 7 is a schematic view of a generated image of the appearance of Fuji apples in accordance with one embodiment of the present invention;
FIG. 8 is a schematic diagram of a deep convolution generating countermeasure network according to one embodiment of the present invention;
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
As shown in fig. 1, an embodiment of the present invention provides a red Fuji apple shape data enhancing apparatus, including:
the appearance data acquisition device 101 is used for photographing apples, and an original data set is formed by photographed pictures;
The data classifying device 102 is used for classifying and calibrating the pictures in the original data set to obtain a calibrated data set;
the data cutting device 103 is configured to define an area of interest for the picture in the calibration data set, cut and reserve the area of interest, median filter the area of interest, and form a sample data set with the picture saved in the area of interest after eliminating noise;
the picture generation device 104 is configured to input the sample data set into a deep convolution generation countermeasure network, perform training processing, generate a new apple picture, and form a result data set;
a controller 105 for controlling the functions of the profile data acquiring device 101, the data classifying device 102, the data cutting device 103, and the picture generating device 104, and storing the data in the execution process of the devices in a memory of the controller.
Further, as shown in fig. 3, the profile data acquisition device 101 includes: the apple positioning device comprises a frame 1, an apple transmission device, an apple feeding mechanism, an appearance acquisition device and an apple position adjustment device;
the apple transmission device is arranged on the upper surface of the frame 1 and extends along the upper surface of the frame 1;
The apple feeding mechanism is arranged at one end of the apple transmission device and spans over the apple transmission device;
the appearance acquisition device is arranged at the other end of the apple transmission device and spans over the apple transmission device;
the apple position adjusting device is arranged on the apple transmission device and is positioned below the appearance collecting device.
Further, as shown in fig. 3, the apple transmission device includes: a conveyor belt 21, a barrier strip 22;
the conveying belt 21 is positioned on the upper surface of the frame 1, and the conveying direction of the conveying belt 21 is translational movement along the upper surface of the frame 1 from the apple feeding mechanism to the shape acquisition device;
the blocking strips 22 are vertically arranged on the upper surface of the frame 1 and abut against two side edge positions of the conveyor belt 21; the distance between the two barrier strips 22 is greater than the maximum diameter of the apple;
wherein the conveyor belt 21 comprises: a groove 211;
the grooves 211 are used for accommodating apples and are hemispherical, and are uniformly arranged on the conveyor belt 21 along the conveying direction of the conveyor belt 21;
the groove 211 includes: a vent hole 2111;
the vent hole 2111 is provided in the groove 211 for blowing air to the apple through the vent hole and fine tuning the apple position.
Further, as shown in fig. 3 and 4, the apple feeding mechanism includes: the cylindrical feeding hopper 31 is arranged at one end of the apple transmission device opposite to the appearance acquisition device and spans over the apple transmission device; the cylindrical feeding hopper 31 can be in a cubic cylinder shape or a cylindrical shape;
a cylindrical column feed hopper as shown in fig. 4, said column feed hopper 31 comprising: a stepping motor 311, a rotation shaft 312, a dispersion balloon 313, a rotation impeller 314, and a through hole 315;
wherein,,
a feed inlet is formed in the top of the cylindrical feed hopper 31;
the stepper motor 311 is arranged on the upper side of the inner part of the cylindrical feeding hopper 31;
one end of the rotating shaft 312 is connected with the stepping motor 311, and the other end of the rotating shaft 312 extends to the bottom of the cylindrical feed hopper 31;
the dispersing air bag 313 is connected to one end of the rotating shaft 312 near the bottom of the cylindrical feed hopper 31; the dispersing air bags 313 are used for primarily dispersing apples poured from the feeding holes into the rotating impeller 314;
the number of the rotary impellers 314 is three, the rotary impellers 314 may be cylindrical boxes, and the three rotary impellers 314 are uniformly distributed and fixed on one end of the rotary shaft 312 near the bottom of the cylindrical feed hopper 31 and are positioned below the dispersing air bags 313; an apple outlet is formed in the side wall of the rotary impeller 314;
The through hole 315 is located on the sidewall of the bottom of the cylindrical feeding hopper 31 near the side of the profile collecting device, the center of the through hole 315 is aligned with the central connecting line of the groove 211 on the conveyor belt 21, and when the rotating impeller 314 rotates to face the through hole 315, the center of the through hole 315 is aligned with the center of the apple outlet.
Further, the profile acquisition device as shown in fig. 3 includes: a door-shaped frame 41;
the door frame 41 spans the barrier strip 22;
the door-shaped frame 41 is provided with a camera 411, a motor 412, a light supplementing lamp 413 and a monitoring video recorder 414;
the camera 411 is used for taking a picture of the apple;
an output shaft of the motor 412 is connected with a telescopic rod; the telescopic rod is connected with a black rubber plate; the telescopic rod is used for adjusting the position of the black rubber plate under the drive of the motor 412; the black rubber plate is used for providing a black background when the camera 411 takes pictures of apples and intercepting the apples to be taken on the conveyor belt 21;
the light supplement lamp 413 is used for providing the ambient brightness when the camera 411 shoots;
the monitoring video recorder 414 is configured to perform a video recording operation on an apple to be photographed, so as to obtain a position of the apple to be photographed, where the apple is exposed to a photographable range of the camera 411.
Further, the apple position adjustment apparatus includes: the clamping mechanism and the air tap;
the clamping mechanism is positioned below the appearance acquisition device;
as shown in fig. 5, the clamping mechanism includes: two clamping baffles 5111, four toggle inclined plates 5112 and two electric push rods 512;
the two clamping baffles 5111 are symmetrically arranged on two sides of the central connecting line of the groove 211 on the conveyor belt 21 in parallel and are positioned on the inner sides of the two blocking strips 22;
the four toggle inclined plates 5112 are respectively connected to two ends of the two clamping baffle plates 5111, one end of any toggle inclined plate 5112 is connected to the clamping baffle plates 5111, and the other end of the toggle inclined plate 5112 is obliquely adjacent to the blocking strip 22 side Xiang Yanshen;
one end of each electric push rod 512 is connected with one clamping baffle 5111, and the other end of each electric push rod 512 penetrates through the blocking strip 22 adjacent to the clamping baffle 5111 and is mounted on the frame 1 through a connecting seat;
the air tap is positioned below the conveyor belt 21 and aligned with the central connecting line of the groove 211 on the conveyor belt 21; the air tap is connected with the air pump; an electromagnetic control valve is arranged on a connecting pipeline of the air tap and the air pump; the solenoid-operated valve is controlled by the controller 105; the air tap is used for blowing air to the apples through the vent hole 2111 and finely adjusting the positions of the apples.
Further, the data classifying device 102 specifically includes:
the processing unit of the controller 105 identifies and extracts texture and shape information of the pictures in the original dataset, classifies the pictures in the original dataset into three types of special fruits, first fruits and second fruits, and respectively calibrates the classified three types of apple pictures.
Further, the picture generation device 104 includes: a generator and a arbiter;
the generator is used for up-sampling by adopting fractional step convolution;
the discriminator is used for downsampling by adopting integer step convolution;
the picture generation device 104 is specifically configured to:
selecting a type of pictures subjected to noise reduction processing, and inputting the pictures into a generator, wherein the generator generates a new type of pictures; simultaneously inputting a type of pictures subjected to noise reduction treatment and a type of generated new pictures into the discriminator; firstly fixing the generator, training the discriminator, stopping training the discriminator when the output value of the corresponding loss function reaches a preset convergence value, further fixing the discriminator, training the generator, stopping training the generator when the output value of the corresponding loss function reaches the preset convergence value, and continuously updating parameters of the generator and the discriminator until the generator and the discriminator model reach a Nash equilibrium state in a circulating mode.
Example 1:
before describing the embodiments of the present invention in detail, the following statements are made in fig. 6, 7, and 8, which are diagrams for understanding the working process of the deep convolution generating countermeasure network in the picture generating apparatus 104 according to the embodiments of the present invention, include apple-shaped features, but are not limited to the range of features that are interesting for the deep convolution generating countermeasure network according to the embodiments of the present invention, and the features that are interesting for the deep convolution generating countermeasure network according to the embodiments of the present invention may include, but are not limited to: the color, fruit shape, fruit rust and fruit surface defects of apples in the apple photo generate features which cannot be distinguished by human beings and are automatically identified by an antagonism network algorithm through deep convolution;
the following begins to describe the embodiment of the present invention, and as shown in fig. 1, a red Fuji apple shape data enhancing apparatus according to the embodiment of the present invention includes: an outline data acquiring means 101, a data classifying means 102, a data cutting means 103, a picture generating means 104, and a controller 105; the profile data acquisition means 101, the data classification means 102, the data trimming means 103, and the picture generation means 104 are connected to the controller 105, respectively;
the shape data acquisition device 101 is used for photographing apples to acquire an original data set; as shown in fig. 3, the profile data acquisition device comprises a frame 1, an apple feeding mechanism, an apple conveying device, a profile acquisition device and an apple position adjustment device; an apple transmission device is arranged on the upper surface of the frame 1; the apple feeding mechanism is positioned at one end of the apple transmission device and spans over the apple transmission device; the apple feeding mechanism is used for pouring apples into the apple feeding mechanism and dispersing and releasing the apples into the grooves 211 of the conveyor belt 21 of the apple driving device one by one; as shown in fig. 4, the apple feeding mechanism includes a cylindrical feed hopper 31, a stepping motor 311, a rotation shaft 312, a dispersion balloon 313, a rotation impeller 314, and a through hole 315; the top of the cylindrical feed hopper 31 is provided with a feed inlet; apples are poured into the cylindrical feed hopper 31 through the feed inlet; the stepping motor 311 is installed on the upper side inside the cylindrical feed hopper 31; one end of the rotating shaft 312 is connected with the stepping motor 311, and the other end of the rotating shaft 312 extends toward the bottom of the cylindrical feed hopper 31; the dispersing air bag 313 is connected to one end of the rotating shaft 312 near the bottom of the cylindrical feed hopper 31; the dispersing air bags 313 are used for primarily dispersing apples poured from the feeding holes into the rotating impeller 314, so that apples are prevented from being piled up; the number of the rotary impellers 314 is three, and the three rotary impellers 314 are uniformly distributed and fixed on one end of the rotary shaft 312, which is close to the bottom of the cylindrical feeding hopper 31, and are positioned below the dispersing air bags 313; under the control of the controller 105, the stepping motor 311 drives the rotary impeller 314 to slowly rotate through the rotary shaft 312; the rotary impeller 314 may be a cylindrical box, apples are dispersed into the three rotary impellers 314 through the dispersing air bags 313, and apple outlets are formed on the side walls of the rotary impellers 314; the through hole 315 is positioned on the side wall of the bottom of the cylindrical feeding hopper 31 close to one side of the shape acquisition device, the center of the through hole 315 is aligned with the center connecting line of the groove 211 on the conveyor belt 21, and when the rotary impeller 314 rotates to be opposite to the through hole 315, the center of the through hole 315 is aligned with the center of the apple outlet; when the apple carried by any rotating impeller 314 rotates to the point that the apple outlet is aligned with the through hole 315, the apple will fall from the cylindrical hopper 31 into the recess 211 of the conveyor belt 21; the apple transmission device comprises a conveyor belt 21 and a blocking strip 22; a row of grooves 211 are uniformly formed in the conveyor belt 21 along the conveying direction of the conveyor belt, the grooves 211 are used for containing apples, so that the apples are conveyed forward more smoothly, and vent holes 2111 are uniformly formed in the grooves 211; the two side edge positions of the frame 1, which are close to the conveyor belt, are respectively provided with a blocking strip 22; the distance between the two barrier ribs 22 is slightly greater than the diameter of the apple, specifically the distance between the two barrier ribs 22 may be the maximum diameter of the apple calculated from a large number of statistics of apple diameters, plus a margin of, for example, 0.5 cm to 10 cm; apples are placed in the grooves 211 and as the conveyor belt 21 moves towards the outward-shaped collecting device, the two blocking strips 22 prevent the apples from coming out of the correct position when they fall from the cylindrical feed hopper 31 onto the conveyor belt 21, ensuring that the apples fall into the grooves 22. The other end of the apple transmission device, which is opposite to the apple feeding mechanism, is provided with an appearance acquisition device, and the appearance acquisition device comprises a door-shaped frame 41; a motor 412, a light supplementing lamp 413, a monitoring video recorder 414 and a camera 411 are arranged on the beam of the door-shaped frame 41; the door-shaped frame 41 spans the barrier strip 22; the camera 411 is used for taking a picture of apples; the output shaft of the motor 412 is connected with a telescopic rod; the telescopic rod is connected with a black rubber plate; the telescopic rod is used for adjusting the position of the black rubber plate under the drive of the motor 412; the black rubber plate is used for providing a black background and intercepting the apples to be photographed on the conveyor belt 21 when the camera 411 takes the pictures of the apples; the light supplement lamp 413 is used for providing the ambient brightness when the camera 411 shoots; the monitoring video recorder 414 is used for performing video recording operation on the apples to be photographed so as to obtain the positions of the apples to be photographed, which are exposed to the photographable range of the camera 411. An apple position adjusting device is arranged between the lower part of the appearance collecting device and the conveyor belt 21, and comprises: the clamping mechanism and the air tap; the clamping mechanism is positioned below the appearance acquisition device; the clamping mechanism is convenient to adjust the position of the apples; the fixture includes: two clamping baffles 5111, four toggle inclined plates 5112 and two electric push rods 512; the two clamping baffles 5111 are symmetrically arranged on two sides of the central connecting line of the groove 211 on the conveyor belt 21 in parallel and are positioned on the inner side of the blocking strip 22; the four poking inclined plates 5112 are respectively connected to the two ends of the two clamping baffle plates 5111, one end of each poking inclined plate 5112 is connected to the clamping baffle plate 5111, and the other end of each poking inclined plate 5112 is obliquely adjacent to the blocking strip 22 side Xiang Yanshen; one end of each electric push rod 512 is connected with a clamping baffle 5111, and the other end of each electric push rod 512 penetrates through a blocking strip 22 adjacent to the clamping baffle 5111 and is arranged on the frame 1 through a connecting seat; the air tap is positioned below the conveyor belt 21 and aligned with the central connecting line of the groove 211 on the conveyor belt 21; the air tap is connected with the air pump; an electromagnetic control valve is arranged on a connecting pipeline of the air tap and the air pump; the solenoid control valve is controlled by the controller 105; the air tap is used for blowing air to the apples through the vent hole 2111 so as to finely adjust the positions of the apples. When the apples in the grooves 211 on the conveyor belt 21 pass through the lower end of the door frame 41, the controller 105 controls the output shaft of the motor 412 to drive the telescopic rod to extend, the telescopic rod drives the black rubber plate to move downwards, and meanwhile, the electric push rod 512 adjusts the telescopic length of the electric push rod 512 according to the diameter of the apples conveyed to the lower end of the door frame 41, so that the position of the apples is limited; the controller 105 controls the monitoring video recorder 414 to record the position of the apple, the acquired data are uploaded to the controller 105, the controller 105 compares the acquired data with preset data in the controller 105 to determine whether the position of the apple exposed to the photographable range of the camera 411 is a preset area, if the position of the apple exposed to the photographable range of the camera 411 in the groove 211 is not in the preset area, the controller 105 gives the deviation of the apple from the preset area, meanwhile, the controller 105 controls the air tap at the bottom of the corresponding conveyor belt 21 to work, fine adjustment is carried out on the position of the apple until the shot area of the apple is matched with the preset area, and the air tap is closed; meanwhile, the controller 105 adjusts the brightness of the light supplementing lamp 413, supplements light to apples to be photographed, the camera photographs apples on one side of the black rubber plate, the motor 412 drives the telescopic rod to shrink after photographing is completed, the black rubber plate rises, the electric push rod 512 shrinks, and the apples are conveyed outwards through the gate-type frame 41;
The raw data set acquired by the profile data acquisition means 101 is stored in a storage unit of the controller 105; the data classification device 102 is used for classifying data in the original data set; the controller 105 controls the data classification device 102 to identify and extract texture and shape information of pictures of an original data set, takes standard pictures issued by NYT 439-2001-apple appearance grade standard as classification basis, classifies the pictures of the original data set into three categories of special fruits, first fruits and second fruits, and respectively calibrates the classified three categories of apple pictures;
the controller 105 controls the continuous control data cutting device 103 to demarcate an interested region of the calibrated apple picture and cut the interested region to obtain a cut picture; carrying out noise reduction treatment on the cut picture by utilizing median filtering; the method comprises the steps of carrying out unified batch processing on the obtained pictures, so that each picture obtained by shooting has the same size and pixels; meanwhile, dividing the pictures of the original dataset into three types of special fruits, first fruits and second fruits, and calibrating the divided three types of apple pictures respectively; cutting the region of interest of the calibrated apple picture; carrying out noise reduction treatment on the cut picture;
The controller 105 continues to control the picture generation device 104, inputs the picture subjected to the noise reduction treatment into a depth convolution generation countermeasure network, and carries out training treatment to generate a new apple picture; as shown in fig. 8, the deep convolution generating countermeasure network is divided into a generator and a discriminator; the generator adopts fractional step convolution to carry out up-sampling, and the discriminator adopts integer step convolution to carry out down-sampling; the generator G is generated in a dual mode with the discriminator D; building the generator G by utilizing a BN algorithm; inputting the picture subjected to noise reduction treatment into a generator; the specific network structure of the generator is that vectors with the input of 1 x 100 are converted into 4 x 1024 through a full connection layer, and the images are generated through 4 up-sampling deconvolution networks; the left column of fig. 6 is a sample in the original dataset, and the right column of fig. 6 is a sample of the generated image corresponding to the left side; the specific network structure of the discriminator is a graph with input 64 x 64 size, and the resolution is reduced to 4*4 after 4 convolutions; the specific training steps of the generator and the discriminator are that a type of pictures after noise reduction treatment are selected and input into the generator, and the generator generates a new type of pictures; simultaneously inputting a type of pictures subjected to noise reduction treatment and a type of generated new pictures into the discriminator; firstly fixing a generator, training the discriminator, stopping training the discriminator when the output value of the corresponding loss function reaches a preset convergence value, further fixing the discriminator, training the generator, stopping training the generator when the output value of the corresponding loss function reaches the preset convergence value, and repeating the steps until the parameters of the generator and the discriminator are continuously updated until the model of the generator and the discriminator reach a Nash equilibrium state.
Under the control of the controller 105, the raw data are collected by the shape data obtaining device 101, the raw data are classified and calibrated by the data classifying device 102, the calibrated data are cut and noise reduced by the data cutting device 103, and the new apple picture is trained and generated by the picture generating device 104, so that an amplified apple picture result data set shown in fig. 7 is obtained.
On the other hand, as shown in fig. 2, the embodiment of the invention provides a method for enhancing the shape data of red Fuji apples by adopting any one of the shape data enhancing devices of red Fuji apples, which comprises the following steps:
step 201, photographing apples, and forming an original data set by photographed pictures;
step 202, classifying and calibrating pictures in the original data set to obtain a calibrated data set;
step 203, a region of interest is defined for the pictures in the calibration data set, the region of interest is cut and reserved, median filtering is carried out on the region of interest, and after noise is eliminated, a sample data set is formed by the pictures reserved in the region of interest;
and 204, inputting the sample data set into a deep convolution generating countermeasure network, performing training processing, generating a new apple picture, and forming a result data set.
Pouring apples into a device obtained by any red Fuji apple shape data enhancement device according to the embodiment of the invention, photographing apples by using the device through step 201, and forming an original data set by using photographed pictures; continuing to carry out classification calibration on the pictures in the original data set through the step 202 to obtain a calibration data set; continuing to define an area of interest for the pictures in the calibration data set, cutting and reserving the area of interest, median filtering the area of interest, and forming a sample data set by the pictures saved in the area of interest after eliminating noise; step 204, inputting the sample data set into a deep convolution generating countermeasure network, performing training treatment, generating a new apple picture, and forming a result data set; this resulting dataset is available for further data analysis processing as an augmentation to the original dataset.
Further, the apple is photographed, and an original data set is formed by photographed pictures, specifically:
pouring apples into the conveying belt 21 through the feeding hole, controlling the stepping motor 311 to drive the rotating impeller 314 to slowly rotate by the controller 105, dispersing the apples into the rotating impeller 314 through the dispersing air bags 313, enabling the apples to enter the grooves 211 on the conveying belt 21 one by one through apple outlets arranged on the side walls of the rotating impeller 314 and through holes 315 on the cylindrical feeding hopper 31, controlling the output shaft of the motor 412 to drive the telescopic rod to extend when the apples in the grooves 211 on the conveying belt 21 pass through the lower end of the gate frame 41 by the controller 105, enabling the telescopic rod to drive the black rubber plate to move downwards, and simultaneously enabling the electric push rod 512 to adjust the telescopic length of the electric push rod 512 according to the diameter of the apples conveyed to the lower end of the gate frame 41, so that the position of the apples is limited; the controller 105 controls the monitoring video recorder 414 to record the position of the apple, the acquired data is uploaded to the controller 105, the controller 105 compares the acquired data with preset data in the controller 105 to determine whether the position of the apple exposed to the photographable range of the camera 411 is a preset area, if the position of the apple exposed to the photographable range of the camera 411 in the groove 211 is not in the preset area, the controller 105 gives the size of the apple deviated from the preset area, meanwhile, the controller 105 controls the air tap at the bottom of the corresponding conveyor belt 21 to work, fine adjustment is performed on the position of the apple until the shot area of the apple is matched with the preset area, and the air tap is closed; meanwhile, the controller 105 adjusts the brightness of the light supplementing lamp 413, supplements light to the apples to be photographed, the camera 411 photographs the apples on one side of the black rubber plate, the motor 412 drives the telescopic rod to shrink after photographing is completed, the black rubber plate rises, the electric push rod 512 shrinks, and the apples are conveyed outwards through the door-shaped frame 41.
The method for enhancing the shape data of the red Fuji apples according to the embodiment of the invention is based on any one of the method for enhancing the shape data of the red Fuji apples according to the embodiment of the invention, so that a person skilled in the art can understand the method for enhancing the shape data of the red Fuji apples according to the embodiment of the invention through the embodiment of the device for enhancing the shape data of the red Fuji apples, and details are not repeated here.
It should be understood that the specific order or hierarchy of steps in the processes disclosed are examples of exemplary approaches.
Based on design preferences, it is understood that the specific order or hierarchy of steps in the processes may be rearranged without departing from the scope of the present disclosure. The accompanying method claims present elements of the various steps in a sample order, and are not meant to be limited to the specific order or hierarchy presented.
In the foregoing detailed description, various features are grouped together in a single embodiment for the purpose of streamlining the disclosure. This method of disclosure is not to be interpreted as reflecting an intention that the claimed embodiments of the subject matter require more features than are expressly recited in each claim. Rather, as the following claims reflect, invention lies in less than all features of a single disclosed embodiment. Thus the following claims are hereby expressly incorporated into this detailed description, with each claim standing on its own as a separate preferred embodiment of this invention.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. As will be apparent to those skilled in the art; various modifications to these embodiments will be readily apparent, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the disclosure. Thus, the present disclosure is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
The foregoing description includes examples of one or more embodiments. It is, of course, not possible to describe every conceivable combination of components or methodologies for purposes of describing the aforementioned embodiments, but one of ordinary skill in the art may recognize that many further combinations and permutations of various embodiments are possible. Accordingly, the embodiments described herein are intended to embrace all such alterations, modifications and variations that fall within the scope of the appended claims. Furthermore, as used in the specification or claims, the term "comprising" is intended to be inclusive in a manner similar to the term "comprising," as interpreted when employed as a transitional word in a claim. Furthermore, any use of the term "or" in the specification of the claims is intended to mean "non-exclusive or".
Those of skill in the art will further appreciate that the various illustrative logical blocks (illustrative logical block), units, and steps described in connection with the embodiments of the invention may be implemented by electronic hardware, computer software, or combinations of both. To clearly illustrate this interchangeability of hardware and software, various illustrative components (illustrative components), elements, and steps have been described above generally in terms of their functionality. Whether such functionality is implemented as hardware or software depends upon the particular application and design requirements of the overall system. Those skilled in the art may implement the described functionality in varying ways for each particular application, but such implementation is not to be understood as beyond the scope of the embodiments of the present invention.
The various illustrative logical blocks or units described in the embodiments of the invention may be implemented or performed with a general purpose processor, a digital signal processor, an Application Specific Integrated Circuit (ASIC), a field programmable gate array or other programmable logic device, discrete gate or transistor logic, discrete hardware components, or any combination thereof designed to perform the functions described. A general purpose processor may be a microprocessor, but in the alternative, the general purpose processor may be any conventional processor, controller, microcontroller, or state machine. A processor may also be implemented as a combination of computing devices, e.g., a digital signal processor and a microprocessor, a plurality of microprocessors, one or more microprocessors in conjunction with a digital signal processor core, or any other similar configuration.
The steps of a method or algorithm described in connection with the embodiments disclosed herein may be embodied directly in hardware, in a software module executed by a processor, or in a combination of the two. A software module may be stored in RAM memory, flash memory, ROM memory, EPROM memory, EEPROM memory, registers, hard disk, a removable disk, a CD-ROM, or any other form of storage medium known in the art. In an example, a storage medium may be coupled to the processor such that the processor can read information from, and write information to, the storage medium. In the alternative, the storage medium may be integral to the processor. The processor and the storage medium may reside in an ASIC, which may reside in a user terminal. In the alternative, the processor and the storage medium may reside as distinct components in a user terminal.
In one or more exemplary designs, the above-described functions of embodiments of the present invention may be implemented in hardware, software, firmware, or any combination of the three. If implemented in software, the functions may be stored on a computer-readable medium or transmitted as one or more instructions or code on the computer-readable medium. Computer readable media includes both computer storage media and communication media that facilitate transfer of computer programs from one place to another. A storage media may be any available media that can be accessed by a general purpose or special purpose computer. For example, such computer-readable media may include, but is not limited to, RAM, ROM, EEPROM, CD-ROM or other optical disk storage, magnetic disk storage or other magnetic storage devices, or any other medium that may be used to carry or store program code in the form of instructions or data structures and other data structures that may be read by a general or special purpose computer, or a general or special purpose processor. Further, any connection is properly termed a computer-readable medium, e.g., if the software is transmitted from a website, server, or other remote source via a coaxial cable, fiber optic cable, twisted pair, digital Subscriber Line (DSL), or wireless such as infrared, radio, and microwave, and is also included in the definition of computer-readable medium. The disks (disks) and disks (disks) include compact disks, laser disks, optical disks, DVDs, floppy disks, and blu-ray discs where disks usually reproduce data magnetically, while disks usually reproduce data optically with lasers. Combinations of the above may also be included within the computer-readable media.
The foregoing description of the embodiments has been provided for the purpose of illustrating the general principles of the invention, and is not meant to limit the scope of the invention, but to limit the invention to the particular embodiments, and any modifications, equivalents, improvements, etc. that fall within the spirit and principles of the invention are intended to be included within the scope of the invention.
Claims (7)
1. A red fuji apple shape data enhancing apparatus, comprising:
the appearance data acquisition device is used for photographing apples and forming an original data set by photographed pictures;
the data classifying device is used for classifying and calibrating the pictures in the original data set to obtain a calibrated data set;
the data cutting device is used for demarcating an interested area for the pictures in the calibration data set, cutting and reserving the interested area, performing median filtering on the interested area, and forming a sample data set by the pictures stored in the interested area after eliminating noise;
the picture generation device is used for inputting the sample data set into a depth convolution generation countermeasure network, performing training treatment, generating a new apple picture and forming a result data set;
A controller for controlling functions of the profile data acquisition device, the data classification device, the data cutting device and the picture generation device, and storing data in the execution process of the devices in a memory of the controller;
the profile data acquisition device includes: the apple positioning device comprises a frame (1), an apple transmission device, an apple feeding mechanism, an appearance acquisition device and an apple position adjustment device;
the apple transmission device is arranged on the upper surface of the frame (1) and extends along the upper surface of the frame (1);
the apple feeding mechanism is arranged at one end of the apple transmission device and spans over the apple transmission device;
the appearance acquisition device is arranged at the other end of the apple transmission device and spans over the apple transmission device;
the apple position adjusting device is arranged on the apple transmission device and is positioned below the appearance collecting device;
the apple transmission comprises: a conveyor belt (21) and a barrier strip (22);
the conveying belt (21) is positioned on the upper surface of the frame (1), and the conveying direction of the conveying belt (21) is translational along the upper surface of the frame (1) from the apple feeding mechanism to the appearance collecting device;
The blocking strips (22) are vertically arranged on the upper surface of the frame (1) and abut against two side edge positions of the conveyor belt (21);
wherein the conveyor belt (21) comprises: a groove (211);
the grooves (211) are used for containing apples and are hemispherical, and are uniformly arranged on the conveyor belt (21) along the conveying direction of the conveyor belt (21);
the groove (211) comprises: a vent hole (2111);
the vent hole (2111) is provided in the groove (211).
2. A red fuji apple profile data enhancing apparatus as in claim 1, wherein said apple feed mechanism comprises: a cylindrical feed hopper (31);
the cylindrical feed hopper (31) comprises: a stepping motor (311), a rotating shaft (312), a dispersing balloon (313), a rotating impeller (314) and a through hole (315);
wherein,,
the top of the cylindrical feed hopper (31) is provided with a feed inlet;
the stepping motor (311) is arranged on the upper side of the inner part of the cylindrical feeding hopper (31);
one end of the rotating shaft (312) is connected with the stepping motor (311), and the other end of the rotating shaft (312) extends to the bottom of the cylindrical feeding hopper (31);
the dispersing air bag (313) is connected to one end of the rotating shaft (312) close to the bottom of the cylindrical feeding hopper (31); the dispersing air bag (313) is used for preliminarily dispersing apples poured from the feeding hole into the rotary impeller (314);
The number of the rotary impellers (314) is three, and the three rotary impellers (314) are uniformly distributed and fixed on one end, close to the bottom of the cylindrical feed hopper (31), of the rotary shaft (312) and are positioned below the dispersing air bags (313); an apple outlet is formed in the side wall of the rotary impeller (314);
the through hole (315) is located on the side wall, close to one side of the appearance collection device, of the bottom of the cylindrical feeding hopper (31), the center of the through hole (315) is aligned with the center connecting line of the groove (211) on the conveyor belt (21), and when the rotating impeller (314) rotates to be right opposite to the through hole (315), the center of the through hole (315) is aligned with the center of the apple outlet.
3. The red fuji apple profile data enhancing apparatus of claim 1, wherein said profile acquisition means comprises: a door-type frame (41);
the door-shaped frame (41) spans the blocking strip (22);
the door-shaped frame (41) is provided with a camera (411), a motor (412), a light supplementing lamp (413) and a monitoring video recorder (414);
-the camera (411) is used for taking pictures of apples;
an output shaft of the motor (412) is connected with a telescopic rod; the telescopic rod is connected with a black rubber plate; the telescopic rod is used for adjusting the position of the black rubber plate under the drive of the motor (412); the black rubber plate is used for providing a black background and intercepting apples to be photographed subsequently on the conveyor belt (21) when the camera (411) takes pictures of the apples;
The light supplementing lamp (413) is used for providing the ambient brightness when the camera (411) shoots;
the monitoring video recorder (414) is used for carrying out video recording operation on the apples to be photographed so as to obtain the positions of the apples to be photographed, which are exposed to the photographable range of the camera (411).
4. The red fuji apple profile data enhancing apparatus of claim 1, wherein said apple position adjusting means comprises: the clamping mechanism and the air tap;
the clamping mechanism is positioned below the appearance acquisition device;
the clamping mechanism comprises: two clamping baffles (5111), four poking inclined plates (5112) and two electric push rods (512);
the two clamping baffles (5111) are symmetrically arranged on two sides of a central connecting line of the groove (211) on the conveyor belt (21) in parallel and are positioned on the inner sides of the two blocking strips (22);
the four poking inclined plates (5112) are respectively connected to two ends of the two clamping baffle plates (5111), one end of any poking inclined plate (5112) is connected to the clamping baffle plates (5111), and the other end of the poking inclined plate (5112) extends in the direction of the blocking strip (22) which is obliquely adjacent to the other end of the poking inclined plate;
one end of each electric push rod (512) is connected with one clamping baffle plate (5111), and the other end of each electric push rod (512) penetrates through the blocking strip (22) adjacent to the clamping baffle plate (5111) and is arranged on the frame (1) through a connecting seat;
The air tap is positioned below the conveyor belt (21) and is aligned with a central connecting line of the groove (211) on the conveyor belt (21); the air tap is connected with the air pump; an electromagnetic control valve is arranged on a connecting pipeline of the air tap and the air pump; the electromagnetic control valve is controlled by the controller; the air tap is used for blowing air to the apples through the vent holes (2111) and finely adjusting the positions of the apples.
5. A red fuji apple profile data enhancing apparatus as claimed in claim 1 or 2 or 3 or 4, wherein said data classifying means comprises:
the processing unit of the controller identifies and extracts texture and shape information of pictures in the original data set, divides the pictures of the original data set into three types of special fruits, first fruits and second fruits, and respectively calibrates the divided three types of apple pictures.
6. A red fuji apple profile data enhancing apparatus as claimed in claim 1 or 2 or 3 or 4, wherein said picture generating means comprises: a generator and a arbiter;
the generator is used for up-sampling by adopting fractional step convolution;
the discriminator is used for downsampling by adopting integer step convolution;
The picture generation device is specifically configured to:
selecting a type of pictures subjected to noise reduction processing, and inputting the pictures into a generator, wherein the generator generates a new type of pictures; simultaneously inputting a type of pictures subjected to noise reduction treatment and a type of generated new pictures into the discriminator; firstly fixing the generator, training the discriminator, stopping training the discriminator when the output value of the corresponding loss function reaches a preset convergence value, further fixing the discriminator, training the generator, stopping training the generator when the output value of the corresponding loss function reaches the preset convergence value, and continuously updating parameters of the generator and the discriminator until the generator and the discriminator model reach a Nash equilibrium state in a circulating mode.
7. A method for enhancing the shape data of red Fuji apples, which is characterized in that the method for enhancing the shape data of the red Fuji apples according to any one of claims 1 to 6 is adopted and comprises the following steps:
photographing apples, and forming an original data set by photographed pictures;
classifying and calibrating pictures in the original data set to obtain a calibrated data set;
Defining an interested region for the pictures in the calibration data set, cutting and reserving the interested region, performing median filtering on the interested region, and forming a sample data set by the pictures stored in the interested region after eliminating noise;
inputting the sample data set into a deep convolution generating countermeasure network, performing training treatment, generating a new apple picture, and forming a result data set;
the apple is photographed, and an original data set is formed by photographed pictures, specifically:
pouring apples into the rotary impeller (314) through the feed inlet, controlling the stepping motor (311) to drive the rotary impeller (314) to slowly rotate by the controller (105), dispersing the apples into the rotary impeller (314) through the dispersing air bags (313), enabling the apples to enter the conveying belt (21) one by one through an apple outlet arranged on the side wall of the rotary impeller (314) and through holes (315) on the cylindrical feeding hopper (31), and when the apples in the grooves (211) on the conveying belt (21) pass through the lower end of the gate-shaped frame (41), controlling the output shaft of the motor (412) by the controller (105) to drive the telescopic rod to extend, driving the black rubber plate to move downwards by the telescopic rod, and simultaneously adjusting the telescopic length of the electric push rod (512) according to the diameter of the apples conveyed to the lower end of the gate-shaped frame (41), so that the position of the apples is limited; the controller (105) controls the monitoring video recorder (414) to record the position of the apple, the acquired data are uploaded to the controller (105), the controller (105) compares the acquired data with preset data in the controller (105) to determine whether the position of the apple exposed to the shooting range of the camera (411) is a preset area or not, if the position of the apple in the groove (211) exposed to the shooting range of the camera (411) is not in the preset area, the controller (105) gives the size of the apple deviated from the preset area, meanwhile, the controller (105) controls the air tap at the bottom of the corresponding conveyor belt (21) to work, fine adjustment is carried out on the position of the apple until the shooting area of the apple is matched with the preset area, and the air tap is closed; meanwhile, the controller (105) adjusts the brightness of the light supplementing lamp (413), light supplementing is carried out on apples to be photographed, a camera photographs apples on one side of the black rubber plate, a motor (412) drives a telescopic rod to shrink after photographing is completed, the black rubber plate rises, an electric push rod (512) shrinks, and apples are conveyed outwards through a door-shaped frame (41).
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| CN202011236498.3A CN112560575B (en) | 2020-11-09 | 2020-11-09 | Red Fuji apple shape data enhancement device and method |
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