CN114192432A - Full-automatic intelligent grading plant of dry product of white meat glossy ganoderma - Google Patents
Full-automatic intelligent grading plant of dry product of white meat glossy ganoderma Download PDFInfo
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- CN114192432A CN114192432A CN202111426499.9A CN202111426499A CN114192432A CN 114192432 A CN114192432 A CN 114192432A CN 202111426499 A CN202111426499 A CN 202111426499A CN 114192432 A CN114192432 A CN 114192432A
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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
- B07C5/04—Sorting according to size
- B07C5/10—Sorting according to size measured by light-responsive 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
- B07C5/02—Measures preceding sorting, e.g. arranging articles in a stream orientating
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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
- B07C5/04—Sorting according to size
- B07C5/12—Sorting according to size characterised by the application to particular articles, not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
- B07C5/16—Sorting according to weight
- B07C5/28—Sorting according to weight using electrical control 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
- B07C5/34—Sorting according to other particular properties
- B07C5/342—Sorting according to other particular properties according to optical properties, e.g. colour
- B07C5/3422—Sorting according to other particular properties according to optical properties, e.g. colour using video scanning devices, e.g. TV-cameras
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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
- B07C5/361—Processing or control devices therefor, e.g. escort memory
- B07C5/362—Separating or distributor mechanisms
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/30—Computing systems specially adapted for manufacturing
Abstract
The invention relates to a full-automatic intelligent grading device for dried white ganoderma lucidum products, and belongs to the technical field of ganoderma lucidum detection and grading. The device comprises a feeding conveyor belt, a cavity, a gripping clamp, a gravity sensor, a camera, a weighing device, an image processor, a grading module, a control module and the like. The invention has novel structure, convenient use, high efficiency and capability of rapidly grading the white ganoderma lucidum. The invention comprehensively considers the shape and color of the pileus, the shape and color of the stipe, the diameter of the pileus, the thickness of the pileus, the length of the stipe, the diameter of the stipe and the weight for grading, has high grading accuracy, solves the problem of fluctuation of subjective judgment, and is easy to popularize and apply.
Description
Technical Field
The invention belongs to the technical field of ganoderma lucidum detection and classification, and particularly relates to a full-automatic intelligent classification device for dried white-meat ganoderma lucidum products.
Background
Ganoderma lucidum (Ganoderma leucocontextum), fruiting body of Ganoderma lucidum (Polyporaceae). Also named as white-heart Ganoderma, Tibetan Ganoderma, Yunnan white Ganoderma, and white Ganoderma. The white ganoderma lucidum is a special new ganoderma lucidum variety growing in high altitude cold regions, is famous for its pulp quality being snow white, and is mainly distributed in southwest plateau regions of Yunnan, Tibet and the like in China. Its efficacy is far higher than that of the common ganoderma lucidum, the yield is very rare, and the price is expensive.
The white ganoderma lucidum has proved to have the following effects in the current research: has strong liver protecting function, tumor cell growth resisting, immunity improving, sleep promoting, neurasthenia, deficiency of qi and blood, cough and asthma treating, and can significantly improve the comprehensive disease resistance of human body after long-term administration. And the ganoderma lucidum is expected to be classified into medicine and food homologous series products, not only can be purchased by consumers as a medicine, but also various products such as ganoderma lucidum tea, ganoderma lucidum wine, ganoderma lucidum beverage and the like can have wide consumer groups, and have the effect of body health care under the condition of meeting the daily diet of people.
In the modern times that people pay more and more attention to health, the wild white ganoderma lucidum cannot meet the requirements of consumers due to extremely low yield. Through years of efforts of edible fungus researchers, wild white-flesh lucid ganoderma in multiple regions is successfully acclimatized into cultivated species, and artificial planting is realized under the climate condition of proper species. Through analysis and research, the content of effective components and the effect of the artificially planted ganoderma leucocontextum are comparable to those of wild ganoderma leucocontextum.
However, the quality of artificially cultivated ganoderma leucocontextum varies due to different cultivation conditions, harvesting/storage time, and pollution conditions of the cultivation medium and soil. At present, the ganoderma leucocontextum detection and classification are generally judged manually according to experiences, the efficiency is low, and different people have different recognition experiences on the ganoderma leucocontextum sense, the classification and the like, so that the ganoderma leucocontextum at the same level has larger difference. Therefore, how to overcome the defects of the prior art is a problem which needs to be solved urgently in the technical field of ganoderma leucocontextum detection and classification.
Disclosure of Invention
The invention aims to overcome the defects in the prior art and provides a full-automatic intelligent grading device for dried white ganoderma lucidum products.
In order to achieve the purpose, the technical scheme adopted by the invention is as follows:
the utility model provides a full-automatic intelligent grading plant of dry product of white meat glossy ganoderma, includes:
the feeding conveying belt is used for feeding and conveying the white ganoderma lucidum;
the cavity is used for receiving the white ganoderma lucidum transmitted by the feeding conveyor belt; the cavity is internally provided with a gripping clamp which is used for gripping the tail part of the ganoderma leucocontextum stipe to enable the pileus part to be hung upside down and enable the ganoderma leucocontextum to be in the fixed cavity; the gripping clamp is provided with a weighing device, and the weighing device is used for weighing the weight of the ganoderma leucocontextum gripped by the gripping clamp;
a gravity sensor is arranged at the bottom in the cavity;
the cavity is also internally provided with a light source and a plurality of cameras, and the cameras are used for collecting images of the ganoderma leucocontextum stipe and the pileus of the ganoderma leucocontextum grasped by the grasping clamps;
the image processor is connected with the camera and is used for preprocessing the image acquired by the camera;
the grading module is respectively connected with the image processor and the weighing device and is used for grading the ganoderma leucocontextum according to the image processed by the image processor and the weight weighed by the weighing device;
the control module is respectively connected with the gripping clamp, the gravity sensor, the camera and the grading module; the device is used for controlling the operation of the gripping clamp and the operation of the camera according to data sensed by the gravity sensor; and the device is also used for controlling the operation of the gripping and clamping according to the grading result of the grading module.
Further, preferably, a row of circular grooves is uniformly distributed on the feeding conveyor belt along the conveying direction.
Further, preferably, the cavity is a negative pressure cavity, the negative pressure enables the ganoderma leucocontextum stipe part to be sucked up by the negative pressure in an upward mode, and the pileus part is hung upside down in a downward mode.
Further, it is preferable that the preprocessing includes noise reduction and geometric correction.
Further, preferably, at least four cameras are arranged, one of the cameras is arranged on the bottom surface, the other three cameras are arranged on the inner wall of the cavity and are symmetrical relative to the center of the ganoderma leucocontextum stipe grasped by the grasping clamp; a light source is arranged beside each camera.
Further, preferably, the top of the cavity is provided with a plurality of slide rails, and the gripping clamp is mounted on the slide rails and can slide on the slide rails.
Furthermore, preferably, five slide rails are arranged at the top of the cavity, wherein four slide rails penetrate out of the cavity to be right above the grading box or the grading transmission belt and then are connected with the head ends of the fifth slide rails; the tail end of the fifth slide rail is connected with the head ends of the four slide rails; a plurality of the gripping clamps are arranged; after the white ganoderma lucidum grasped by the first grasping clamp at the tail end of the fifth slide rail is graded by the grading module, the control module controls the grasping clamp to move to the slide rail corresponding to the grading box or the grading transmission belt of the corresponding grade, and when the white ganoderma lucidum reaches the position right above the grading box or the grading transmission belt of the corresponding grade, the control module controls the grasping clamp to be loosened, so that the white ganoderma lucidum is placed in the grading box or on the grading transmission belt.
Further, preferably, the grading module comprises a BP neural network module, a first processing unit, a second processing unit and a grading unit;
the BP neural network module, the first processing unit and the second processing unit are respectively connected with the grading unit;
a BP neural network model is prestored in the BP neural network module, the BP neural network model takes the stem and cap images of the ganoderma leucocontextum processed by the image processor as input and the grade of the ganoderma leucocontextum as output, and the BP neural network model is trained until the prediction precision of the BP neural network model meets the requirement;
the first processing unit is used for identifying the ganoderma leucocontextum stipe processed by the image processor, the pileus diameter, the pileus thickness, the pileus length and the pileus diameter in the pileus image, and grading according to the identified result;
the second processing unit is used for grading the ganoderma leucocontextum according to the weight weighed by the weighing device;
the grading unit is used for obtaining a final grading result of the ganoderma leucocontextum according to grading results of the BP neural network module, the first processing unit and the second processing unit;
and (4) obtaining a final white ganoderma lucidum grading result, namely min { grading result of the BP neural network module, grading result of the first processing unit and grading result of the second processing unit }.
Further, it is preferable that the classification criteria of the first processing unit are:
first-stage: the diameter of the pileus is more than or equal to 14cm, the thickness of the pileus is more than or equal to 1.5cm, the length of the stipe is more than or equal to 6cm, and the diameter of the stipe is more than or equal to 2.0 cm;
and (2) second stage: the diameter of the pileus is more than or equal to 10cm, the thickness of the pileus is more than or equal to 1.0cm, the length of the stipe is more than or equal to 5cm, and the diameter of the stipe is more than or equal to 0.4 cm;
third-stage: the diameter of the pileus is more than or equal to 6cm, the thickness of the pileus is more than or equal to 0.6cm, the length of the stipe is more than or equal to 3cm, and the diameter of the stipe is more than or equal to 1 cm;
and (4) fourth stage: the diameter of the pileus is more than or equal to 2cm, the thickness of the pileus is more than or equal to 0.4cm, the length of the stipe is more than or equal to 1cm, and the diameter of the stipe is more than or equal to 0.8c m;
the grading result of the first processing unit is the highest grade which is satisfied by the four indexes of the ganoderma leucocontextum pileus diameter, the pileus thickness, the stipe length and the stipe diameter.
Further, it is preferable that the classification criteria of the second processing unit are:
first-stage: the weight is more than or equal to 20 g;
and (2) second stage: the weight is more than or equal to 15 g;
third-stage: the weight is more than or equal to 10 g;
and (4) fourth stage: the weight is more than or equal to 5 g;
the grading result of the second processing unit is the highest grade satisfied by the weight of the ganoderma leucocontextum.
Compared with the prior art, the invention has the beneficial effects that:
the invention designs a full-automatic intelligent grading device to realize an automatic grading device of dried white ganoderma lucidum products according to grading requirements of related sensory indexes and physical indexes in the quality grading standard of white ganoderma lucidum. This grading plant novel structure, convenient to use can grade white meat glossy ganoderma fast, and efficiency is higher. The invention comprehensively considers the shape and color of the pileus, the shape and color of the stipe, the diameter of the pileus, the thickness of the pileus, the length of the stipe, the diameter of the stipe and the weight for grading, has high grading accuracy, solves the problem of fluctuation of subjective judgment, and is easy to popularize and apply.
Factors influencing the quality of the ganoderma leucocontextum product come from the aspects of culture medium and soil conditions, culture conditions, temperature and humidity of culture environment, CO2 concentration, illumination intensity, harvesting time and the like. These differences in conditions affect the dry weight of the fruiting body of Ganoderma leucocontextum, and the gloss and size of the pileus and stipe. The requirements of sensory indexes and physical indexes of the dried white ganoderma lucidum products are very important for the quality of the white ganoderma lucidum, the white ganoderma lucidum products are also batons for purchasing the white ganoderma lucidum on the market, clear white ganoderma lucidum grading standards are provided, and the white ganoderma lucidum products with different grades can be priced by accurately separating the white ganoderma lucidum products with different grades through the full-automatic intelligent grading device. The method avoids the occurrence of disorder that the market is full of goods or the high-quality product does not obtain value recognition and the like, so that the personnel who plant the high-quality product can obtain corresponding economic benefits, and the personnel are willing to further invest in planting. The white ganoderma lucidum planting personnel can also plan to plant the product with the optimal quality, different selling prices can be set in the product selling link according to the white ganoderma lucidum products with different grades, deep processing enterprises in the later period of the product can also carry out deep processing with different degrees according to the white ganoderma lucidum products with different grades to prepare different types of products to flow into the market, consumers can purchase the products with pertinence according to the demands of the consumers, the purchase price of the special grade products is slightly higher, but the effect is obvious, and the white ganoderma lucidum products are approved and effectively publicized. The quality grading of the ganoderma leucocontextum products is a baton which guides all links in the development of the whole industrial chain, and the ganoderma leucocontextum industry wants to develop healthily and is imperative in efficiently grading the product quality.
The invention relates to a white ganoderma lucidum intelligent grading and intelligence-packaging method, which is completely customized according to the shape characteristics of the white ganoderma lucidum and an index to be judged. Because the ganoderma leucocontextum is not regular in shape like a spherical or square object, it is unscientific and unreliable to grade the ganoderma leucocontextum through simple size or weight, if the physical indexes of each ganoderma leucocontextum are accurately measured, a large amount of manpower and material resources are consumed, and different measuring personnel can generate different measuring errors. According to the grading device, the negative pressure device is ingeniously designed to hang the white ganoderma lucidum upside down in a hanging mode, so that indexes such as glossiness, diameter, thickness, length and weight of pileus and pileus can be collected in a 360-degree stereoscopic mode for grading, and the grading device is high in practicability and easy to popularize and apply.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without paying creative efforts.
FIG. 1 is a schematic structural diagram of a full-automatic intelligent grading device for dry white ganoderma lucidum products;
FIG. 2 is a top view of the feed conveyor;
FIG. 3 is another schematic structural diagram of a full-automatic intelligent grading device for dry white ganoderma lucidum products;
FIG. 4 is a schematic view of a slide rail mounting structure;
FIG. 5 is a schematic view of another slide rail mounting structure;
FIG. 6 is a block diagram of a full-automatic intelligent grading device for dry white ganoderma lucidum products;
FIG. 7 is a photograph of Ganoderma leucocontextum detected by the apparatus of the present invention;
FIG. 8 is a further photograph of Ganoderma leucocontextum detected by the apparatus of the present invention;
FIG. 9 is a further photograph of Ganoderma lucidum karst detected by the apparatus of the present invention;
FIG. 10 is another photograph of Ganoderma leucocontextum detected by the apparatus of the present invention;
wherein, 1, a feeding conveyor belt; 2. a groove; 3. a cavity; 4. grabbing and clamping; 5. a gravity sensor; 6. a camera; 7. a weighing device; 8. an image processor; 9. a grading module; 901. a BP neural network module; 902. A first processing unit; 903. a second processing unit; 904. a classification unit; 10. a control module; 11. a light source; 12. a slide rail; 13. a grading box; 14. a graded conveyor belt.
Detailed Description
The present invention will be described in further detail with reference to examples.
It will be appreciated by those skilled in the art that the following examples are illustrative of the invention only and should not be taken as limiting the scope of the invention. The examples do not specify particular techniques or conditions, and are performed according to the techniques or conditions described in the literature in the art or according to the product specifications. The materials or equipment used are not indicated by manufacturers, and all are conventional products which can be obtained by purchase.
As used herein, the singular forms "a", "an", "the" and "the" include plural referents unless the context clearly dictates otherwise. It will be further understood that the terms "comprises" and/or "comprising," when used in this specification, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof. It will be understood that when an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. Further, "connected" as used herein may include wirelessly connected. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.
In the description of the present invention, "a plurality" means two or more unless otherwise specified. The terms "inner," "upper," "lower," and the like, refer to an orientation or a state relationship based on that shown in the drawings, which is for convenience in describing and simplifying the description, and do not indicate or imply that the referenced device or element must have a particular orientation, be constructed and operated in a particular orientation, and thus should not be construed as limiting the invention.
In the description of the present invention, it should be noted that unless otherwise explicitly stated or limited, the terms "mounted," "connected," and "provided" are to be construed broadly, e.g., as being fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; may be directly connected or indirectly connected through an intermediate. To those of ordinary skill in the art, the specific meanings of the above terms in the present invention are understood according to specific situations.
It will be understood by those skilled in the art that, unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. It will be further understood that terms, such as those defined in commonly used dictionaries, should be interpreted as having a meaning that is consistent with their meaning in the context of the prior art and will not be interpreted in an idealized or overly formal sense unless expressly so defined herein.
As shown in fig. 1 and 6, a full-automatic intelligent grading device for dried white ganoderma lucidum products comprises:
the feeding conveyor belt 1 is used for feeding and conveying the white ganoderma lucidum;
the cavity 3 is used for receiving the white ganoderma lucidum transmitted by the feeding conveyor belt 1; a grasping clamp 4 is arranged in the cavity 3, and the grasping clamp 4 is used for grasping the tail part of the ganoderma leucocontextum stipe to enable the pileus part to be hung upside down and enable the ganoderma leucocontextum to be in the fixed cavity 3; the weighing device 7 is arranged on the gripping clamp 4, and the weighing device 7 is used for weighing the weight of the ganoderma leucocontextum gripped by the gripping clamp 4;
a gravity sensor 5 is arranged at the bottom in the cavity 3;
the cavity 3 is also internally provided with a light source 11 and a plurality of cameras 6, and the cameras 6 are used for collecting images of the ganoderma leucocontextum stipe and the pileus which are grasped by the grasping clamps 4;
the image processor 8 is connected with the camera 6 and is used for preprocessing the image acquired by the camera 6;
the grading module 9 is respectively connected with the image processor 8 and the weighing device 7 and is used for grading the ganoderma leucocontextum according to the image processed by the image processor 8 and the weight weighed by the weighing device 7;
the control module 10 is respectively connected with the gripping clamp 4, the gravity sensor 5, the camera 6 and the grading module 9; the device is used for controlling the operation of the gripping clamp 4 and the operation of the camera 6 according to data sensed by the gravity sensor 5; and is also used for controlling the operation of the gripping clamp 4 according to the grading result of the grading module 9. The invention does not adopt the gravity sensor 5 for weighing, and aims to cause inaccurate weighing result due to the falling of the white ganoderma lucidum residues and hinder the accuracy of grading result in the using process, so that the weighing device 7 is arranged on the gripping clamp 4 for weighing.
Preferably, as shown in fig. 2, a row of circular grooves 2 is uniformly distributed on the feeding conveyor belt 1 along the conveying direction. The round groove 2 is used for facilitating the feeding process, the ganoderma leucocontextum stipe part is upward, and the cap part is downward and is arranged on the round groove 2.
Preferably, the cavity 3 be the negative pressure cavity, the negative pressure makes the lighter stipe part of glossy ganoderma quality upwards sucked up by the negative pressure, and the heavier pileus part of quality hangs upside down in cavity upper portion to it grasps white meat glossy ganoderma stipe afterbody to grab clamp 4. The control module 10 is also used to control the negative pressure environment of the chamber 3. The invention can also carry out image recognition on the ganoderma leucocontextum stipe by the existing camera 6 or the camera 6 arranged at the top of the cavity 3, so that the control module 10 controls the gripping clamp 4 to accurately grip the tail of the ganoderma leucocontextum stipe, but the invention is not limited to this. Preferably the gripper 4 is a robot. Preferably, the gripper 4 can rotate 360 degrees (with the stipe as an axis), and images at different angles can be shot by rotating each camera, so that the accuracy of grading results is improved.
Preferably, the preprocessing includes noise reduction and geometric correction. The invention does not limit the specific method of noise reduction and geometric correction, and the prior art is adopted.
In a preferable scheme, at least four cameras 6 are arranged, one of the cameras is arranged on the bottom surface, the other three cameras are arranged on the inner wall of the cavity 3, and the cameras are centrosymmetric relative to the ganoderma leucocontextum stipes grabbed by the grabbing clamp 4; a light source 11 is provided next to each camera 6. The light source 11 is preferably a standard light source, preferably a light source having a color temperature of (5500 + -100) K, an illuminance of (2000 + -200) lx, and a color rendering index Ra≥92。
Preferably, as shown in fig. 3 and 4, the top of the cavity 3 is provided with a plurality of sliding rails 12, and the gripping clamp 4 is mounted on the sliding rails 12 and can slide on the sliding rails 12. In a further preferred scheme, five slide rails 12 are arranged at the top of the cavity 3, wherein four slide rails penetrate through the cavity 3 to be right above the grading box 13 or the grading transmission belt 14 and then are connected with the head ends of the fifth slide rails 12; the tail end of the fifth slide rail 12 is connected with the head ends of the four slide rails 12; a plurality of the gripping clamps 4 are arranged; after the ganoderma lucidum clamped by the first clamp 4 at the tail end of the fifth slide rail 12 is graded by the grading module 9, the control module 10 controls the clamp 4 to move to the grading box 13 of the corresponding grade or the slide rail 12 corresponding to the grading transmission belt 14, and when the ganoderma lucidum reaches the position right above the grading box 13 or the grading transmission belt 14 of the corresponding grade, the control module 10 controls the clamp 4 to be loosened, so that the ganoderma lucidum is placed in the grading box 13 or on the grading transmission belt 14.
Namely, the first gripper 4 at the tail end of the five slide rails 12 is located at the center of the cavity 3, after the gripper 4 places the ganoderma leucocontexture in the grading box 13 or on the grading transmission belt 14, the control module 10 controls the gripper 4 to return to the head end of the fifth slide rail 12, and the five slide rails are put into use again in sequence. The specific arrangement manner of the sliding rail 12 is not limited in the present invention, and can be as shown in fig. 4 or fig. 5; wherein the arrow direction is the running direction of the gripper 4;
preferably, the ranking module 9 shown in fig. 6 includes a BP neural network module 901, a first processing unit 902, a second processing unit 903 and a ranking unit 904;
the BP neural network module 901, the first processing unit 902 and the second processing unit 903 are respectively connected with the grading unit 904;
a BP neural network model is prestored in the BP neural network module 901, and the BP neural network model takes the ganoderma leucocontextum stipe and pileus images processed by the image processor 8 as input and the grade of ganoderma leucocontextum as output to train the BP neural network model until the prediction accuracy of the BP neural network model meets the requirement;
and the BP neural network model corresponds to the grading of the shape and the color of the pileus, the shape and the color of the stipe in the sensory indexes.
During training, the images of the stipe and the pileus of the ganoderma leucocontextum processed by the image processor 8 are used as input, the manual grading label is used as output for training, and the prediction precision preferably reaches the grading accuracy of 99.99%.
The first processing unit 902 is used for identifying pileus diameter, pileus thickness, pileus length and pileus diameter in the image of the pileus and pileus of the ganoderma leucocontextum processed by the image processor 8, and grading according to the identified result; preferably, when identifying each index of the pileus diameter, pileus thickness, pileus length and pileus diameter in the white ganoderma lucidum stipe and pileus image processed by the image processor 8, the average value of the identification results of a plurality of pictures of different cameras is taken,
the second processing unit 903 is used for grading the ganoderma leucocontextum according to the weight weighed by the weighing device 7;
the grading unit 904 is configured to obtain a final grading result of ganoderma leucocontextum according to the grading results of the BP neural network module 901, the first processing unit 902, and the second processing unit 903;
the final ganoderma leucocontextum classification result is min { the classification result of the BP neural network module 901, the classification result of the first processing unit 902, and the classification result of the second processing unit 903 }. For example, if the result of the BP neural network module 901 is two levels, the result of the first processing unit 902 is one level, and the result of the second processing unit 903 is two levels, the final result of the classification is two levels.
The ranking criteria for the first processing unit 902 are:
first-stage: the diameter of the pileus is more than or equal to 14cm, the thickness of the pileus is more than or equal to 1.5cm, the length of the stipe is more than or equal to 6cm, and the diameter of the stipe is more than or equal to 2.0 cm;
and (2) second stage: the diameter of the pileus is more than or equal to 10cm, the thickness of the pileus is more than or equal to 1.0cm, the length of the stipe is more than or equal to 5cm, and the diameter of the stipe is more than or equal to 0.4 cm;
third-stage: the diameter of the pileus is more than or equal to 6cm, the thickness of the pileus is more than or equal to 0.6cm, the length of the stipe is more than or equal to 3cm, and the diameter of the stipe is more than or equal to 1 cm;
and (4) fourth stage: the diameter of the pileus is more than or equal to 2cm, the thickness of the pileus is more than or equal to 0.4cm, the length of the stipe is more than or equal to 1cm, and the diameter of the stipe is more than or equal to 0.8c m;
the grading result of the first processing unit 902 is the highest grade that the four indexes of the ganoderma leucocontextum diameter, the pileus thickness, the stipe length and the stipe diameter all meet.
The ranking criteria for the second processing unit 903 are:
first-stage: the weight is more than or equal to 20 g;
and (2) second stage: the weight is more than or equal to 15 g;
third-stage: the weight is more than or equal to 10 g;
and (4) fourth stage: the weight is more than or equal to 5 g;
the result of the classification by the second processing unit 903 is the highest level satisfied by the weight of ganoderma leucocontextum.
In the classification result of the invention, the first grade is maximum, and the fourth grade is minimum. The specific grading contents are shown in table 1.
TABLE 1
The grading standard is obtained by the inventor according to research of many years, and the local standard is applied.
The device is adopted to detect the dried white ganoderma lucidum, and meanwhile, the artificial actual judgment is carried out, the result shows that the accuracy of the grading result of the device is 100%, and the inventor respectively extracts one of photos of one ganoderma lucidum of each grade, as shown in figures 7-10.
The detection result of the ganoderma lucidum shown in the figure 7 by the device of the invention is first grade, and the practical indexes are as follows: the pileus is semicircular and reddish brown, and the stipe is cylindrical and dark reddish brown; the diameter of pileus is 14.56cm, the thickness of pileus is 1.89 cm, the length of stipe is 7.65cm, the diameter of stipe is 2.23cm, and the dry weight of whole glossy ganoderma is 28.36 g. And the grading result is accurate.
The ganoderma lucidum shown in the figure 8 has a two-stage detection result through the device of the invention, and the actual indexes are as follows: the pileus is sector-shaped, reddish brown, and the stipe is cylindrical and dark reddish brown; the diameter of pileus is 14.21cm, the thickness of pileus is 1.35cm, the length of stipe is 5.53cm, the diameter of stipe is 1.62cm, and the dry weight of whole glossy ganoderma is 18.56 g. And the grading result is accurate.
The detection result of the ganoderma lucidum shown in the figure 9 by the device of the invention is three levels, and the practical indexes are as follows: the pileus is sector-shaped and reddish brown, and the stipe is flat and wide and reddish brown; the diameter of pileus is 9.26cm, the thickness of pileus is 1.28cm, the length of stipe is 5.56cm, the diameter of stipe is 2.32cm, and the dry weight of whole glossy ganoderma is 11.36 g. And the grading result is accurate.
The ganoderma lucidum shown in the figure 10 has four detection results through the device of the invention, and the practical indexes are as follows: the pileus is fan-shaped, black and red brown, and the stipe is deformed and black brown; the diameter of pileus is 5.86cm, the thickness of pileus is 0.88cm, the length of stipe is 3.57cm, the diameter of stipe is 1.26cm, and the dry weight of whole Ganoderma is 5.27 g. And the grading result is accurate.
The foregoing shows and describes the general principles, essential features, and advantages of the invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are described in the specification and illustrated only to illustrate the principle of the present invention, but that various changes and modifications may be made therein without departing from the spirit and scope of the present invention, which fall within the scope of the invention as claimed. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (10)
1. The utility model provides a full-automatic intelligent grading plant of dry product of white meat glossy ganoderma which characterized in that includes:
the feeding conveyor belt (1) is used for feeding and conveying the white ganoderma lucidum;
the cavity (3) is used for receiving the white ganoderma lucidum transmitted by the feeding conveyor belt (1); a gripping clamp (4) is arranged in the cavity (3), the gripping clamp (4) is used for gripping the tail part of the ganoderma leucocontextum stipe to enable the pileus part to be hung upside down and enable the ganoderma leucocontextum to be in the fixed cavity (3); the gripping clamp (4) is provided with a weighing device (7), and the weighing device (7) is used for weighing the weight of the ganoderma leucocontextum gripped by the gripping clamp (4);
a gravity sensor (5) is arranged at the bottom in the cavity (3);
a light source (11) and a plurality of cameras (6) are further arranged in the cavity (3), and the cameras (6) are used for collecting images of ganoderma leucocontextum stipes and pileus which are gripped by the gripping clamps (4);
the image processor (8) is connected with the camera (6) and is used for preprocessing the image acquired by the camera (6);
the grading module (9) is respectively connected with the image processor (8) and the weighing device (7) and is used for grading the ganoderma leucocontextum according to the image processed by the image processor (8) and the weight weighed by the weighing device (7);
the control module (10) is respectively connected with the gripping clamp (4), the gravity sensor (5), the camera (6) and the grading module (9); the device is used for controlling the operation of the gripping clamp (4) and the operation of the camera (6) according to data sensed by the gravity sensor (5); and is also used for controlling the operation of the gripping clamp (4) according to the grading result of the grading module (9).
2. The full-automatic intelligent grading device for dried white ganoderma lucidum products according to claim 1, wherein a row of circular grooves (2) are uniformly distributed on the feeding conveyor belt (1) along the conveying direction.
3. The full-automatic intelligent grading device for dried white ganoderma lucidum products according to claim 1, wherein the cavity (3) is a negative pressure cavity, the negative pressure enables the stem part of the white ganoderma lucidum to be sucked up by the negative pressure in an upward direction, and the pileus part is hung upside down in a downward direction.
4. The full-automatic intelligent grading device for dried white ganoderma lucidum products according to claim 1, wherein the pretreatment comprises noise reduction and geometric correction.
5. The full-automatic intelligent grading device for dried white ganoderma lucidum products according to claim 1, wherein at least four cameras (6) are arranged, one of the cameras is arranged on the bottom surface, and the other three cameras are arranged on the inner wall of the cavity (3) and are centrosymmetric relative to the white ganoderma lucidum stems grabbed by the grabbing clamp (4); a light source (11) is arranged beside each camera (6).
6. The full-automatic intelligent grading device for dried white ganoderma lucidum products according to claim 1, wherein a plurality of sliding rails (12) are arranged at the top of the cavity (3), and the gripping clamp (4) is mounted on the sliding rails (12) and can slide on the sliding rails (12).
7. The full-automatic intelligent grading device for dried white ganoderma lucidum products according to claim 6, wherein five slide rails (12) are arranged at the top of the cavity (3), wherein four slide rails penetrate through the cavity (3) to be right above the grading box (13) or the grading transmission belt (14) and then are connected with the head ends of the fifth slide rails (12); the tail end of the fifth slide rail (12) is connected with the head ends of the four slide rails (12); a plurality of the gripping clamps (4) are arranged; after the white ganoderma lucidum grasped by the first grasping clamp (4) at the tail end of the fifth sliding rail (12) is classified by the classification module (9), the control module (10) controls the grasping clamp (4) to the corresponding classification box (13) or the sliding rail (12) corresponding to the classification driving belt (14), and when the white ganoderma lucidum reaches the position right above the corresponding classification box (13) or the classification driving belt (14), the control module (10) controls the grasping clamp (4) to be loosened, so that the white ganoderma lucidum is placed in the classification box (13) or on the classification driving belt (14).
8. The full-automatic intelligent grading device for dried white ganoderma lucidum products according to claim 1, wherein the grading module (9) comprises a BP neural network module (901), a first processing unit (902), a second processing unit (903) and a grading unit (904);
the BP neural network module (901), the first processing unit (902) and the second processing unit (903) are respectively connected with the grading unit (904);
a BP neural network model is prestored in the BP neural network module (901), and the BP neural network model takes the ganoderma leucocontextum stipe and pileus images processed by the image processor (8) as input and the grade of the ganoderma leucocontextum as output to train the BP neural network model until the prediction precision of the BP neural network model meets the requirement;
the first processing unit (902) is used for identifying the ganoderma leucocontextum stipe processed by the image processor (8), the pileus diameter, the pileus thickness, the pileus length and the pileus diameter in the pileus image, and grading according to the identified result;
the second processing unit (903) is used for grading the ganoderma leucocontextum according to the weight weighed by the weighing device (7);
the grading unit (904) is used for obtaining a final grading result of the ganoderma leucocontextum according to grading results of the BP neural network module (901), the first processing unit (902) and the second processing unit (903);
and (3) the final ganoderma leucocontextum grading result = min { grading result of the BP neural network module (901), grading result of the first processing unit (902), and grading result of the second processing unit (903) }.
9. The full-automatic intelligent grading device for dried white ganoderma lucidum products according to claim 8, wherein the grading standard of the first processing unit (902) is as follows:
first-stage: the diameter of the pileus is more than or equal to 14cm, the thickness of the pileus is more than or equal to 1.5cm, the length of the stipe is more than or equal to 6cm, and the diameter of the stipe is more than or equal to 2.0 cm;
and (2) second stage: the diameter of the pileus is more than or equal to 10cm, the thickness of the pileus is more than or equal to 1.0cm, the length of the stipe is more than or equal to 5cm, and the diameter of the stipe is more than or equal to 0.4 cm;
third-stage: the diameter of the pileus is more than or equal to 6cm, the thickness of the pileus is more than or equal to 0.6cm, the length of the stipe is more than or equal to 3cm, and the diameter of the stipe is more than or equal to 1 cm;
and (4) fourth stage: the diameter of the pileus is more than or equal to 2cm, the thickness of the pileus is more than or equal to 0.4cm, the length of the stipe is more than or equal to 1cm, and the diameter of the stipe is more than or equal to 0.8 cm;
the grading result of the first processing unit (902) is the highest grade which is satisfied by the four indexes of the ganoderma leucocontextum pileus diameter, the pileus thickness, the stipe length and the stipe diameter.
10. The full-automatic intelligent grading device for dried white ganoderma lucidum products according to claim 8, wherein the grading standard of the second processing unit (903) is as follows:
first-stage: the weight is more than or equal to 20 g;
and (2) second stage: the weight is more than or equal to 15 g;
third-stage: the weight is more than or equal to 10 g;
and (4) fourth stage: the weight is more than or equal to 5 g;
the grading result of the second processing unit (903) is the highest grade satisfied by the weight of the ganoderma leucocontextum.
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| JPH09294962A (en) * | 1996-05-01 | 1997-11-18 | Mitsubishi Heavy Ind Ltd | Fruit grading and packing facility |
| JP2003251282A (en) * | 2002-03-04 | 2003-09-09 | Nippon Kyodo Kikaku Kk | System for measuring and deciding grade and class of strawberry |
| CN207681044U (en) * | 2017-12-08 | 2018-08-03 | 安徽原生态农业科技有限公司 | A kind of ganoderma lucidum automatic sorting apparatus |
| CN112539785A (en) * | 2020-12-11 | 2021-03-23 | 云南中烟工业有限责任公司 | Tobacco grade identification system and method based on multi-dimensional characteristic information |
| CN112547563A (en) * | 2020-12-15 | 2021-03-26 | 江苏大学 | Intelligent edible fungus identification and sorting system and method |
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2021
- 2021-11-27 CN CN202111426499.9A patent/CN114192432B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH09294962A (en) * | 1996-05-01 | 1997-11-18 | Mitsubishi Heavy Ind Ltd | Fruit grading and packing facility |
| JP2003251282A (en) * | 2002-03-04 | 2003-09-09 | Nippon Kyodo Kikaku Kk | System for measuring and deciding grade and class of strawberry |
| CN207681044U (en) * | 2017-12-08 | 2018-08-03 | 安徽原生态农业科技有限公司 | A kind of ganoderma lucidum automatic sorting apparatus |
| CN112539785A (en) * | 2020-12-11 | 2021-03-23 | 云南中烟工业有限责任公司 | Tobacco grade identification system and method based on multi-dimensional characteristic information |
| CN112547563A (en) * | 2020-12-15 | 2021-03-26 | 江苏大学 | Intelligent edible fungus identification and sorting system and method |
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