CN112718549A - General spherical fruit intelligence sorter of computer vision - Google Patents
General spherical fruit intelligence sorter of computer vision Download PDFInfo
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- CN112718549A CN112718549A CN202011433912.XA CN202011433912A CN112718549A CN 112718549 A CN112718549 A CN 112718549A CN 202011433912 A CN202011433912 A CN 202011433912A CN 112718549 A CN112718549 A CN 112718549A
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- sorting
- spherical fruits
- spherical
- computer vision
- conveyor belt
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
- B07C5/34—Sorting according to other particular properties
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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
- A23N15/00—Machines or apparatus for other treatment of fruits or vegetables for human purposes; Machines or apparatus for topping or skinning flower bulbs
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
- B07C5/02—Measures preceding sorting, e.g. arranging articles in a stream orientating
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
- B07C5/04—Sorting according to size
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
- B07C5/36—Sorting apparatus characterised by the means used for distribution
- B07C5/363—Sorting apparatus characterised by the means used for distribution by means of air
- B07C5/365—Sorting apparatus characterised by the means used for distribution by means of air using a single separation means
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
- B07C5/36—Sorting apparatus characterised by the means used for distribution
- B07C5/38—Collecting or arranging articles in groups
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- 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
- A23N15/00—Machines or apparatus for other treatment of fruits or vegetables for human purposes; Machines or apparatus for topping or skinning flower bulbs
- A23N2015/008—Sorting of fruit and vegetables
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- Life Sciences & Earth Sciences (AREA)
- Chemical & Material Sciences (AREA)
- Engineering & Computer Science (AREA)
- Food Science & Technology (AREA)
- Polymers & Plastics (AREA)
- Sorting Of Articles (AREA)
Abstract
The invention discloses a computer vision general intelligent sorting machine for spherical fruits, which comprises a feeding device, a carrier roller conveyor belt, a recognition device, a defective product removing device and a size sorting device, wherein the recognition device comprises a camera, a lamp box and an intelligent decision system, the defective product removing device comprises an air gun control module and an air gun array, and the size sorting device comprises a beef tendon type conveyor belt, a rack and a grading collection box. Spherical fruits slide down from a feeding inclined device groove and enter a carrier roller conveyor belt, the spherical fruits advance in a rotary mode and enter a lamp box area, a camera shoots images of three surfaces of the spherical fruits, the images are transmitted to an intelligent decision system to judge whether the spherical fruits are defective products or not, control information is transmitted to an air gun array, the spherical fruits slide down at the tail end of a carrier pipe area, an air gun is opened to pump the defective products into a defective product grading box, normal fruits fall into a beef tendon conveyor belt, the space between a plurality of beef tendon conveyor belts is gradually widened, the spherical fruits with different diameters slide down at different grading openings respectively, and the spherical fruits with the largest size slide down at the tail end. The invention combines computer vision sorting and mechanical sorting according to the diameter, simultaneously realizes sorting of inferior-quality products and spherical fruits with different sizes and grades, changes the space between the beef tendon conveying belts, is suitable for the universal use of different types of spherical fruits, and has great application value.
Description
Technical Field
The invention discloses a computer vision general spherical fruit intelligent sorting machine, and particularly relates to an automatic device for realizing general spherical agricultural product sorting by combining deep learning defective product identification and large and small mechanical sorting.
Background
With the improvement of living standard of people, the graded sale of agricultural products is a necessary trend of development, and is particularly more obvious in some foreign trade industries. At present, mechanical, electronic and image sorters are in turn available at home and abroad. The mechanical sorting of agricultural products is realized according to the size of meshes or supporting roller spaces, the electronic sorting machine can accurately weigh the weight of materials through the online pressure sensor, however, the two sorting machines can only distinguish the sizes and cannot detect defective products, and the image sorting machine can realize the online sorting of the defective products because scars and the like of the materials can be seen, but the sorting model has no learning capacity, so that the sorting machine can not realize multiple purposes, and the sorting of general agricultural products can not be realized.
Aiming at the defects, along with the continuous development of a deep learning algorithm in recent years, the precision of corresponding devices is improved, so that a universal sorting machine is possibly developed.
Disclosure of Invention
The invention mainly aims to overcome the defects of the problems and discloses a computer vision universal intelligent sorting machine for spherical fruits. The fruit sorting machine can sort different types of spherical fruit farm products, can achieve multiple purposes, and can realize universal sorting of multiple agricultural products.
The invention is realized by the following technical scheme:
the utility model provides a general spherical fruit intelligence sorter of computer vision, its characterized in that, including holding in the palm feed arrangement, tow roller conveyer belt, recognition device, substandard product removing devices to and track sorting unit, wherein feed arrangement is located bearing roller conveyer belt front end, and recognition device is located bearing roller conveyer belt top, and substandard product removing devices is located bearing roller conveyer belt end, and track sorting unit is located the removing devices rear, and recognition device is used for discerning the agricultural product on the bearing roller conveyer belt.
According to the computer vision general spherical fruit intelligent sorting machine, spherical fruits slide down from a feeding chute, enter a carrier roller conveyor belt, rotate and advance to enter a lamp box area, a camera shoots images of multiple surfaces of the spherical fruits, the images are transmitted to a computer, whether the spherical fruits are defective products or not is judged through an intelligent decision system, control information is transmitted to an air gun control module, the spherical fruits slide down at the tail end of a supporting pipe conveyor belt, the air gun control module controls an air gun to be started, the defective products are injected into a defective product grading box, normal fruits fall into a beef tendon track conveyor belt, the distances of the beef tendon conveyor belts are gradually widened, the spherical fruits with different diameters respectively slide down at different grading ports, and the largest spherical fruits slide down at the tail end.
According to the computer vision general spherical fruit intelligent sorting machine, the recognition device comprises a camera, a lamp box and an intelligent decision system, the lamp box is positioned above the carrier roller conveyor belt, the camera is positioned in the lamp box, when materials enter the carrier roller conveyor belt to rotate and advance, the camera shoots images of a plurality of surfaces of the spherical fruits, and meanwhile, a light source is arranged in the lamp box, so that the clear imaging of the materials is ensured.
According to the computer vision general spherical fruit intelligent sorting machine, the intelligent decision system comprises a raspberry pie, an information receiving module and an information transmission module. The information receiving module is connected with the camera, the information transmission module is connected with the air gun control module, the signal receiving module receives a picture shot by the camera and transmits the picture to the raspberry pie, the raspberry pie judges and transmits the result to the air gun control module through the information transmission module, and the raspberry pie runs an intelligent decision system.
According to the computer vision general spherical fruit intelligent sorting machine, the defective product removing device comprises an air gun control module and an air gun array, the air gun array is positioned between a carrier roller conveyor belt and a beef tendon rail conveyor belt and arranged at an included angle of 45 degrees with the horizontal plane, defective products are firstly thrown into a defective product grading box by controlling the opening and closing of the air gun array, and qualified spherical fruits enter the rail conveyor belt to be sorted according to sizes.
According to the computer vision general intelligent sorting machine for spherical fruits, the rail sorting device comprises a beef tendon conveyor belt, a rack, a pipe wheel shaft and a grading collection box, the rack is used for bearing the beef tendon conveyor belt, the grading collection box is positioned below the beef tendon conveyor belt, after the beef tendon conveyor belt receives materials conveyed from a carrier roller conveyor belt, the beef tendon conveyor belt moves forwards at a constant speed to sort the spherical fruits which are genuine, and particularly, the grading collection box can be properly adjusted according to the number of grades to be graded.
According to the computer vision general spherical fruit intelligent sorting machine, the core of the intelligent decision system is a lifelong learning algorithm based on knowledge distillation, the algorithm firstly selects a more complex network, has very good performance and generalization capability as a teacher network to guide another simpler student network to learn, so that a simpler student model with less parameter calculation amount can also have performance similar to the teacher network, then, the weight fine adjustment of the network is carried out based on a batch of image data of a certain agricultural product material measured by a conveyor belt, a sorting model which can adapt to the agricultural product is obtained, and the model can be applied to the sorting of the agricultural product; when another agricultural product is added for model fine tuning, the teacher network is used for guiding and training the student network again, when more agricultural product varieties are added, the analogy is repeated, the models are stored simultaneously, universal sorting of various spherical fruit and agricultural products can be achieved, particularly, the teacher network can select ResNet101, the student network can select ResNet18, and the trained student network model needs to be written into a raspberry group to run and serves as the core of an intelligent decision making system.
Compared with the prior art, the invention has the following effects: the invention realizes the universal sorting process of various spherical fruits by matching deep learning with rail sorting, the machine can realize 'one machine for multiple purposes' and 'one machine for multiple functions', can be widely applied to sorting spherical crops such as apples, onions, tomatoes and the like, and can reduce the equipment cost, improve the added value of agricultural products and have remarkable social benefits by carrying out decision sorting on raspberry groups after knowledge distillation.
Drawings
FIG. 1 is a side view of a computer vision universal intelligent sorting machine for spherical fruits according to the present invention.
Wherein: 1. tube wheel axle, 2, cowhells strip, 3, camera, 4, lamp house, 5, hierarchical case, 6, chute, 7, air gun array, 8, strip support, 9, bearing roller conveyer belt, 10, spherical fruit.
FIG. 2 is a front view of the computer vision universal intelligent sorting machine for spherical fruits.
FIG. 3 is a detailed schematic diagram of the idler, tube wheel axle and tendon band of the computer vision general intelligent sorting machine for spherical fruits.
Detailed Description
Specific embodiments of the present apparatus and method are described below in conjunction with the appended drawings. It should be noted that the embodiments described by referring to the drawings are exemplary and intended to explain the present application and are not to be construed as limiting the present application
Example 1:
referring to fig. 1-3, the front view of the computer vision universal spherical fruit intelligent sorting machine comprises a feeding device, a carrier roller conveyor belt, a recognition device, a rejection device and a rail sorting device.
Spherical fruit farm products 10 roll into a carrier roller type conveyor belt 9 from a feeding chute 6, the carrier roller type conveyor belt 9 is in a shape of a sub-calabash, the spherical fruits 10 roll forward, images of different side surfaces of the spherical fruits 10 are shot by a camera 3 in an area 4 in a lamp box, at least 3 images are shot, the images are sent to a raspberry group (not shown in the figure) for recognition, a recognition result controls an air gun array 7, when the spherical fruits are inferior products, air guns corresponding to the air gun array 7 are started to spray high-pressure air, the inferior products are blown into an inferior product collecting box 5.1, when the spherical fruits are genuine products, the air gun array 7 is not started, the genuine products of the spherical fruits freely slide down onto a beef tendon strip 2, the upper part of the section of the beef tendon strip 2 is in a semicircular shape, the lower part of the beef tendon strip is in a trapezoidal shape clamped in a groove of a strip support 8, so that the longer beef tendon strip 2 is prevented from bending in the process of conveying the spherical fruits, the width of cowhells strip 2 widens gradually, spherical fruit 10 is according to the diameter size, fall down in the position of difference, fall into in the hierarchical case 5.2~5.6 of different diameters size respectively, the spherical fruit 10 of maximum size falls into the hierarchical case 5.7 of maximum size fruit at cowhells strip track end, the sorting of the substandard product of the whole process of spherical fruit and specification has been realized, can be according to the difference of the spherical fruit kind size, send the different recognition model of writing in at the raspberry, suitably adjust cowhells strip track interval, realize the general of multiple agricultural product and select separately.
In the description of the present application, it is to be understood that the terms "front end," "over," and the like, indicate an orientation or positional relationship based on that shown in the drawings, merely for convenience of describing the present application and simplifying the description, and do not indicate or imply that the referenced device or element must have a particular orientation, be constructed in a particular orientation, and be operated, and therefore should not be construed as limiting the present application.
The invention can be widely applied to the separation of crops such as apples, tomatoes, potatoes, onions and the like, and can also be used for the separation of small cherry tomatoes, litchis, blueberries and the like, the invention is not limited to the above embodiments, and any modification, equivalent replacement, improvement and the like made without departing from the basic idea of the invention are all included in the protection scope of the invention, and the protection scope of the invention is defined by the claims.
Claims (6)
1. The utility model provides a general spherical fruit intelligence sorter of computer vision which characterized in that includes: the agricultural product sorting device comprises a feeding device, a carrier roller conveying belt, a recognition device, a defective product removing device and a large and small rail sorting device, wherein the feeding device is located at the front end of the carrier roller conveying belt, the recognition device is located above the carrier roller conveying belt, the defective product removing device is located at the tail end of the carrier roller conveying belt, the sorting device is located behind the removing device, and the recognition device is used for recognizing whether defective agricultural products on the carrier roller conveying belt exist or not.
2. The computer vision universal intelligent sorting machine for spherical fruits according to claim 1, characterized in that: the defective product identification device comprises a camera, a lamp box and an intelligent decision system, wherein the lamp box is positioned above the carrier roller conveyor belt, and the camera is positioned in the lamp box.
3. The computer vision universal intelligent sorting machine for spherical fruits according to claim 2, characterized in that: the intelligent decision-making system comprises a raspberry group, an information receiving module and an information transmission module, wherein the information receiving module is connected with a camera, the information transmission module is connected with an air gun control module, and the raspberry group runs the intelligent decision-making system.
4. The computer vision universal intelligent sorting machine for spherical fruits according to claim 1, characterized in that: the removing device comprises an air gun control module and an air gun array, wherein the air gun array is composed of a row of air guns which are arranged in parallel, the air gun control module receives a signal of decision of an intelligent decision system, and then the air guns are controlled to be opened and closed, so that the defective products are pumped into a defective product grading box.
5. The computer vision universal intelligent sorting machine for spherical fruits according to claim 1, characterized in that: the track sorting device comprises a beef tendon type conveyor belt, a rack and a grading collecting box, wherein the rack is used for bearing the beef tendon conveyor belt, the grading collecting box is arranged below the beef tendon conveyor belt, the quantity of the grading collecting boxes can be properly adjusted according to the grade number to be graded, and particularly, the quantity of the grading collecting boxes is 7.
6. The computer vision universal intelligent sorting machine for spherical fruits according to claim 1, characterized in that: the core of the intelligent decision system is a deep learning algorithm based on knowledge distillation, a small deep learning neural student network is guided through a large deep learning neural teacher network, particularly, the teacher network can select ResNet101, the student network can select ResNet18, a student model runs on a raspberry group, as the core of an intelligent decision, the knowledge distillation can compress the model, the lightweight deployment and application of the model are facilitated, the popularization of the model to a mobile terminal is facilitated, and the sorting of various agricultural products can be realized by matching with different-distance track sorting devices through learning aiming at different agricultural product samples.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202011433912.XA CN112718549A (en) | 2020-12-10 | 2020-12-10 | General spherical fruit intelligence sorter of computer vision |
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| CN202011433912.XA CN112718549A (en) | 2020-12-10 | 2020-12-10 | General spherical fruit intelligence sorter of computer vision |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113828544A (en) * | 2021-09-23 | 2021-12-24 | 宁波大学 | Blueberry sorting device and method |
| CN114769151A (en) * | 2022-04-12 | 2022-07-22 | 江苏省农业科学院 | Intelligent egg laying duck egg laying box |
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Application publication date: 20210430 |