CN114192432B - Full-automatic intelligent grading plant of white meat glossy ganoderma dry product - Google Patents
Full-automatic intelligent grading plant of white meat glossy ganoderma dry product Download PDFInfo
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- CN114192432B CN114192432B CN202111426499.9A CN202111426499A CN114192432B CN 114192432 B CN114192432 B CN 114192432B CN 202111426499 A CN202111426499 A CN 202111426499A CN 114192432 B CN114192432 B CN 114192432B
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Abstract
The invention relates to a full-automatic intelligent classification device for white-meat ganoderma lucidum dry products, and belongs to the technical field of ganoderma lucidum detection classification. The device is characterized by comprising a feeding conveyor belt, a cavity, a grabbing 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 can rapidly classify the ganoderma lucidum with white meat. The invention comprehensively considers the shape and the color of the fungus cover, the shape and the color of the fungus handle, the diameter of the fungus cover, the thickness of the fungus cover, the length of the fungus handle, the diameter of the fungus handle and the weight of the fungus cover for classification, has high classification accuracy, solves the problem of fluctuation in 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 white ganoderma lucidum dry products.
Background
Ganoderma lucidum (Ganoderma leucocontextum), a fruiting body of Ganoderma lucidum belonging to Polyporaceae (Polyporaae). Also known as Ganoderma lucidum, ganoderma tibetan, ganoderma lucidum in Yunnan province, and Ganoderma lucidum in Baixin province. The white ganoderma lucidum is a special new ganoderma lucidum variety growing in cold and cool areas at high altitudes, and is mainly distributed in southwest plateau areas such as Yunnan and Tibet in China because the meat quality of the white ganoderma lucidum is named as snow white. The efficacy is far higher than that of the common ganoderma lucidum, the yield is extremely rare, and the price is relatively high.
The efficacy of ganoderma lucidum in the current study has been demonstrated to be: has the effects of protecting liver, resisting tumor cell growth, enhancing immunity, promoting sleep, treating neurasthenia, deficiency of qi and blood, cough and asthma, etc., and can remarkably improve comprehensive disease resistance of human body after long-term administration. The ganoderma lucidum is expected to be classified into a medicine and food homologous series product, and the ganoderma lucidum is not only purchased by consumers as medicines, but also has the effects of body health care under the condition of meeting the daily diet of people, and various ganoderma lucidum tea, ganoderma lucidum wine, ganoderma lucidum beverage and other products can have wide consumption groups.
In modern times, which are more and more important for physical health, wild white ganoderma lucidum has far from meeting the demands of consumers due to extremely low yield. Through many years of efforts of edible fungus researchers, wild ganoderma lucidum in a plurality of areas is successfully domesticated into cultivars, and artificial planting is realized under the climatic conditions with proper varieties. Through analysis and research, the content and the efficacy of the active ingredients of the artificially planted white ganoderma lucidum are different from those of the wild white ganoderma lucidum.
However, the quality of artificially cultivated white ganoderma lucidum is uneven due to different cultivation conditions, harvesting/preserving time, and pollution conditions of cultivation substrate and soil. At present, the detection and classification of the ganoderma lucidum are usually manually judged according to experience, the efficiency is low, and the ganoderma lucidum at the same stage has larger difference because different people have different recognition experiences on the sense and classification of the ganoderma lucidum. Therefore, how to overcome the defects of the prior art is a problem to be solved in the technical field of detection and classification of white ganoderma lucidum at present.
Disclosure of Invention
The invention aims to solve the defects in the prior art and provides a full-automatic intelligent grading device for white ganoderma lucidum dry products.
In order to achieve the above purpose, the technical scheme adopted by the invention is as follows:
a full-automatic intelligent grading plant of white meat glossy ganoderma dry product includes:
the feeding conveyor belt is used for feeding and conveying the 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 grabbing clamp which is used for grabbing the tail part of the ganoderma lucidum stipe so that the fungus cover part is hung downwards and the ganoderma lucidum is arranged in the fixed cavity; the grabbing clamp is provided with a weighing device which is used for weighing the weight of the white ganoderma lucidum grabbed by the grabbing clamp;
the bottom in the cavity is provided with a gravity sensor;
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 lucidum stipe and the ganoderma lucidum cap which are grasped by the grasping clips;
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 white ganoderma lucidum 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 grabbing clamp, the gravity sensor, the camera and the grading module; the device is used for controlling the grabbing clamp work and the camera work according to the data sensed by the gravity sensor; and the clamping device is also used for controlling the clamping work according to the grading result of the grading module.
Further, it is preferable that the feeding conveyor belt is uniformly provided with a row of circular grooves along the conveying direction.
Further, preferably, the cavity is a negative pressure cavity, and the negative pressure makes the ganoderma lucidum stipe part upwards sucked by negative pressure and the fungus cover part downwards hung.
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, and the other three cameras are arranged on the inner wall of the cavity and are symmetrical relative to the center of the ganoderma lucidum stipe grasped by the grasping clips; a light source is arranged beside each camera.
Further, preferably, a plurality of sliding rails are arranged at the top of the cavity, and the grabbing clamp is arranged on the sliding rails and can slide on the sliding rails.
Further, preferably, five sliding rails are arranged at the top of the cavity, wherein the four sliding rails penetrate out of the cavity to the position right above the classification box or the classification driving belt and are connected with the head end of the fifth sliding rail; the tail end of the fifth sliding rail is connected with the head ends of the four sliding rails; the grabbing clamp is provided with a plurality of grabbing clamps; and after the ganoderma lucidum is classified by the classification module, the control module controls the ganoderma lucidum to be gripped to the corresponding slide rail of the classification box or the classification driving belt of the corresponding grade, and when the ganoderma lucidum reaches the position right above the classification box or the classification driving belt of the corresponding grade, the control module controls the gripping clamp to be loosened, so that the ganoderma lucidum is placed in the classification box or on the classification driving belt.
Further, it is preferable that the classification module includes a BP neural network module, a first processing unit, a second processing unit, and a classification unit;
the BP neural network module, the first processing unit and the second processing unit are respectively connected with the grading unit;
the BP neural network module is pre-stored with a BP neural network model, the BP neural network model takes the white ganoderma lucidum stipe and the fungus cover images processed by the image processor as input and takes the white ganoderma lucidum grade as output, and training of the BP neural network model is carried out until the prediction precision of the BP neural network model meets the requirement;
the first processing unit is used for identifying the stipe of the ganoderma lucidum, the diameter of the stipe, the thickness of the stipe, the length of the stipe and the diameter of the stipe in the image of the stipe processed by the image processor and grading according to the identified result;
the second processing unit is used for grading the ganoderma lucidum according to the weight weighed by the weighing device;
the grading unit is used for obtaining a final ganoderma lucidum grading result according to the grading results of the BP neural network module, the first processing unit and the second processing unit;
final ganoderma lucidum grading result = min { grading result of BP neural network module, grading result of first processing unit, grading result of second processing unit }.
Further, it is preferable that the classification criteria of the first processing unit is:
first-order: the diameter of the fungus cover is more than or equal to 14cm, the thickness of the fungus cover is more than or equal to 1.5cm, the length of the fungus handle is more than or equal to 6cm, and the diameter of the fungus handle is more than or equal to 2.0 and cm;
and (2) second-stage: the diameter of the fungus cover is more than or equal to 10cm, the thickness of the fungus cover is more than or equal to 1.0cm, the length of the fungus handle is more than or equal to 5cm, and the diameter of the fungus handle is more than or equal to 0.4cm;
three stages: the diameter of the fungus cover is more than or equal to 6cm, the thickness of the fungus cover is more than or equal to 0.6cm, the length of the fungus handle is more than or equal to 3cm, and the diameter of the fungus handle is more than or equal to 1cm;
four stages: the diameter of the fungus cover is more than or equal to 2cm, the thickness of the fungus cover is more than or equal to 0.4cm, the length of the fungus handle is more than or equal to 1cm, and the diameter of the fungus handle is more than or equal to 0.8 and c m;
the grading result of the first processing unit is the highest grade that the four indexes of the diameter of the white meat ganoderma lucidum fungus cover, the thickness of the fungus cover, the length of the fungus handle and the diameter of the fungus handle are all met.
Further, it is preferable that the classification criteria of the second processing unit is:
first-order: the weight is more than or equal to 20g;
and (2) second-stage: the weight is more than or equal to 15g;
three stages: the weight is more than or equal to 10g;
four stages: the weight is more than or equal to 5g;
the grading result of the second treatment unit is the highest grade satisfied by the weight of the ganoderma lucidum.
Compared with the prior art, the invention has the beneficial effects that:
according to the classification requirements of related sensory indexes and physical indexes in the quality classification standard of the ganoderma lucidum, the invention designs a full-automatic intelligent classification device to realize the automatic classification device of the ganoderma lucidum dry product. The grading device is novel in structure, convenient to use, capable of grading white meat ganoderma lucidum rapidly and high in efficiency. The invention comprehensively considers the shape and the color of the fungus cover, the shape and the color of the fungus handle, the diameter of the fungus cover, the thickness of the fungus cover, the length of the fungus handle, the diameter of the fungus handle and the weight of the fungus handle for classification, has high classification accuracy, solves the problem of fluctuation in subjective judgment, and is easy to popularize and apply.
Factors influencing the quality of the white ganoderma lucidum product are from the aspects of cultivation medium and soil conditions, cultivation conditions, temperature, humidity, CO2 concentration, illumination intensity, harvesting time and the like of a cultivation environment. The difference of these conditions affects the whole dry weight of ganoderma lucidum fruiting body, and the glossiness and size of the pileus and stipe. The requirements of sensory indexes and physical indexes of the white ganoderma lucidum dry products are very important to the quality of the white ganoderma lucidum, the white ganoderma lucidum dry products are batons purchased in the market, clear white ganoderma lucidum grading standards are provided, and the white ganoderma lucidum products of different grades can be priced by accurately separating the white ganoderma lucidum of each grade through the full-automatic intelligent grading device. So as to avoid mess such as secondary filling in the market or no value recognition of the high-quality products, and the like, and enable the personnel who plant the high-quality products to obtain corresponding economic benefits, and the personnel are willing to invest in planting further. The white ganoderma lucidum planter also can want to try to breed the product with optimal quality, the product sales ring can make different sales prices according to the white ganoderma lucidum products of different grades, the product post-processing enterprises can also carry out deep processing of different degrees according to the white ganoderma lucidum products of different grades, different types of products are manufactured and then flow into the market, the consumers can purchase the special products with higher price but obvious efficacy according to the own needs, and the white ganoderma lucidum products are approved and effectively advertised. The quality grading of the ganoderma lucidum product is a baton, which guides all links in the development of the whole industry chain, and the ganoderma lucidum industry wants to develop healthily, so that the efficient grading of the product quality is imperative.
The intelligent grading and intelligence packaging method of the ganoderma lucidum is realized by completely customizing the shape and characteristics of the ganoderma lucidum and the index to be judged. Since white ganoderma lucidum is not regular in shape like a spherical or square object, classifying the white ganoderma lucidum by simple size or weight is not scientific and reliable, if the physical index of each white ganoderma lucidum is accurately measured, a large amount of manpower and material resources are required to be consumed, and different measuring errors can occur for different measuring staff. The grading device of the invention skillfully designs the negative pressure device to hang the white ganoderma lucidum upside down, so that indexes such as glossiness, diameter, thickness, length, weight and the like of the fungus cover and the fungus handle are collected in 360-degree three-dimensional mode for grading, the practicability is strong, and the popularization and the application are easy.
Drawings
In order to more clearly illustrate the embodiments of the invention or the technical solutions of the prior art, the drawings which are required in the description of the embodiments or the prior art will be briefly described, it being obvious that the drawings in the description below are only some embodiments of the invention, and that other drawings can be obtained according to these drawings without giving inventive faculty to a person skilled in the art.
FIG. 1 is a schematic structural diagram of a full-automatic intelligent classification device for dried white ganoderma lucidum;
FIG. 2 is a top view of the feed conveyor;
FIG. 3 is a schematic diagram of a full-automatic intelligent classification apparatus for dried white ganoderma lucidum;
FIG. 4 is a schematic view of a rail mounting structure;
FIG. 5 is a schematic view of another construction of the slide rail installation;
FIG. 6 is a block diagram of a full-automatic intelligent grading device for the dried white ganoderma lucidum;
FIG. 7 is a diagram of a white ganoderma lucidum detected by the device of the invention;
FIG. 8 is a diagram of another embodiment of a white ganoderma lucidum;
FIG. 9 is a diagram of still another white ganoderma lucidum detected by the apparatus of the present invention;
FIG. 10 is a diagram of another white ganoderma lucidum detected by the apparatus of the present invention;
wherein, 1, a feeding conveyor belt; 2. a groove; 3. a cavity; 4. a grabbing clamp; 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 classifying unit; 10. a control module; 11. A light source; 12. a slide rail; 13. a classifying box; 14. a graded drive 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 present invention and should not be construed as limiting the scope of the invention. The specific techniques or conditions are not identified in the examples and are performed according to techniques or conditions described in the literature in this field or according to the product specifications. The materials or equipment used are conventional products available from commercial sources, not identified to the manufacturer.
As used herein, the singular forms "a", "an", "the" and "the" are intended to include the plural forms as well, unless expressly stated otherwise, as understood by those skilled in the art. 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 wireless connections. The term "and/or" as used herein includes any and all combinations of one or more of the associated listed items.
In the description of the present invention, unless otherwise indicated, the meaning of "a plurality" is two or more. The orientation or state relationship indicated by the terms "inner", "upper", "lower", etc. are orientation or state relationship based on the drawings, are merely for convenience of description and simplification of description, and do not indicate or imply that the apparatus or element in question must have a specific orientation, be constructed and operate in a specific orientation, and therefore should not be construed as limiting the invention.
In the description of the present invention, it should be noted that, unless explicitly stated and limited otherwise, the terms "mounted," "connected," and "provided" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium. The specific meaning of the above terms in the present invention is understood by those of ordinary skill in the art according to the specific circumstances.
It will be understood by those skilled in the art that 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 unless defined otherwise. 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 white ganoderma lucidum dry products comprises:
the feeding conveyor belt 1 is used for feeding and conveying ganoderma lucidum;
the cavity 3 is used for receiving the ganoderma lucidum with white meat transmitted by the feeding conveyor belt 1; a grabbing clamp 4 is arranged in the cavity 3, and the grabbing clamp 4 is used for grabbing the tail part of the ganoderma lucidum stipe so that the fungus cover part is hung upside down and the ganoderma lucidum stipe is fixed in the cavity 3; the grabbing clamp 4 is provided with a weighing device 7, and the weighing device 7 is used for weighing the weight of the white ganoderma lucidum grabbed by the grabbing 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 lucidum stipe and the ganoderma lucidum cap which are grasped by the grasping clips 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 lucidum 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 grab clamp 4, the gravity sensor 5, the camera 6 and the grading module 9; the device is used for controlling the operation of the grab clamp 4 and the operation of the camera 6 according to the data sensed by the gravity sensor 5; and is also used for controlling the operation of the grab clamp 4 according to the grading result of the grading module 9. The weighing device 7 is arranged on the grabbing clamp 4 for weighing because the weighing result is inaccurate due to the fact that residues of white ganoderma lucidum drop in the using process, and the accuracy of the grading result is hindered.
Preferably, as shown in fig. 2, a row of circular grooves 2 are uniformly distributed on the feeding conveyor belt 1 along the conveying direction. The round groove 2 is used for facilitating the feeding, the stipe part of the ganoderma lucidum is upward, and the pileus part is downward arranged on the round groove 2.
Preferably, the cavity 3 is a negative pressure cavity, and the negative pressure makes the mushroom stem part with lighter weight upwards sucked by negative pressure, and the mushroom cap part with heavier weight downwards and reversely hangs on the upper part of the cavity, so that the tail part of the mushroom stem with white meat is conveniently grasped by the grasping clamp 4. The control module 10 is also used for controlling the negative pressure environment of the cavity 3. The invention can also carry out image recognition on the ganoderma lucidum stipe by the existing camera 6 or by arranging the camera 6 at the top of the cavity 3, so that the control module 10 can control the grabbing clamp 4 to accurately grab the tail part of the ganoderma lucidum stipe, but is not limited to the method. Preferably the gripper 4 is a robot. Preferably, the grabbing clamp 4 can rotate 360 degrees (taking a petiole as an axis), and images of 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.
Preferably, the cameras 6 are at least four, one of which is arranged on the bottom surface, and the other three of which are arranged on the inner wall of the cavity 3 and are used for capturing the white ganoderma lucidum relative to the capture clamp 4The center of the fungus handle is symmetrical; 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 R a ≥92。
Preferably, as shown in fig. 3 and 4, a plurality of sliding rails 12 are arranged at the top of the cavity 3, and the grabbing clamp 4 is mounted on the sliding rails 12 and can slide on the sliding rails 12. Further preferably, five sliding rails 12 are arranged at the top of the cavity 3, wherein the four sliding rails penetrate through the cavity 3 to the position right above the classification box 13 or the classification driving belt 14 and are connected with the head end of the fifth sliding rail 12; the tail end of the fifth slide rail 12 is connected with the head ends of the four slide rails 12; the grabbing clamp 4 is provided with a plurality of grabbing clamps; after the ganoderma lucidum is classified by the classifying module 9, the control module 10 controls the ganoderma lucidum gripped by the first gripping clamp 4 positioned at the tail end of the fifth sliding rail 12 to the sliding rail 12 corresponding to the classifying box 13 or the classifying driving belt 14 of the corresponding class, and when the ganoderma lucidum reaches the position right above the classifying box 13 or the classifying driving belt 14 of the corresponding class, the control module 10 controls the gripping clamp 4 to be loosened, so that the ganoderma lucidum is placed in the classifying box 13 or on the classifying driving belt 14.
That is, the first grabbing clamp 4 at the tail end of the five sliding rails 12 is located at the center of the cavity 3, and after the grabbing clamp 4 places the white ganoderma lucidum in the classifying box 13 or on the classifying belt 14, the control module 10 controls the grabbing clamp 4 to return to the head end of the fifth sliding rail 12 and put into use again in sequence. The specific arrangement mode of the sliding rail 12 is not limited in the present invention, and can be shown in fig. 4 or fig. 5; wherein the arrow direction is the running direction of the grab 4;
preferably, the classification module 9 as shown in fig. 6 includes a BP neural network module 901, a first processing unit 902, a second processing unit 903, and a classification 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;
the BP neural network module 901 is pre-stored with a BP neural network model, the BP neural network model takes the white ganoderma lucidum stipe and the fungus cover image processed by the image processor 8 as input and takes the grade of the white ganoderma lucidum as output, and training of the BP neural network model is carried out until the prediction accuracy of the BP neural network model meets the requirement;
the BP neural network model corresponds to the classification of the shape, the color, the shape and the color of the fungus cover in the sensory indexes.
During training, the images of the ganoderma lucidum stipe and the ganoderma lucidum cap processed by the image processor 8 are used as input, the manual classification label is used as output for training, and the prediction accuracy preferably reaches 99.99% of classification accuracy.
The first processing unit 902 is configured to identify a ganoderma lucidum stipe, a stipe diameter, a stipe thickness, a stipe length, and a stipe diameter in the stipe image processed by the image processor 8, and perform classification according to the identified result; preferably, when identifying the indicators of the diameter, the thickness, the length and the diameter of the fungus cover in the fungus cover image of the ganoderma lucidum fungus handle and the fungus cover processed by the image processor 8, taking the average value of the identification results of a plurality of pictures of different cameras,
the second processing unit 903 is used for grading the ganoderma lucidum according to the weight weighed by the weighing device 7;
the grading unit 904 is configured to obtain a final ganoderma lucidum grading result according to the grading results of the BP neural network module 901, the first processing unit 902, and the second processing unit 903;
final ganoderma lucidum grading result = min { grading result of BP neural network module 901, grading result of first processing unit 902, grading result of second processing unit 903 }. For example, the BP neural network module 901 has a second level of the classification result, the first processing unit 902 has a first level of the classification result, the second processing unit 903 has a second level of the classification result, and the final classification result is the second level.
The ranking criteria for the first processing unit 902 are:
first-order: the diameter of the fungus cover is more than or equal to 14cm, the thickness of the fungus cover is more than or equal to 1.5cm, the length of the fungus handle is more than or equal to 6cm, and the diameter of the fungus handle is more than or equal to 2.0 and cm;
and (2) second-stage: the diameter of the fungus cover is more than or equal to 10cm, the thickness of the fungus cover is more than or equal to 1.0cm, the length of the fungus handle is more than or equal to 5cm, and the diameter of the fungus handle is more than or equal to 0.4cm;
three stages: the diameter of the fungus cover is more than or equal to 6cm, the thickness of the fungus cover is more than or equal to 0.6cm, the length of the fungus handle is more than or equal to 3cm, and the diameter of the fungus handle is more than or equal to 1cm;
four stages: the diameter of the fungus cover is more than or equal to 2cm, the thickness of the fungus cover is more than or equal to 0.4cm, the length of the fungus handle is more than or equal to 1cm, and the diameter of the fungus handle is more than or equal to 0.8 and c m;
the classification result of the first processing unit 902 is the highest grade that is satisfied by four indexes of the diameter of the white meat ganoderma lucidum fungus cover, the thickness of the fungus cover, the length of the fungus handle and the diameter of the fungus handle.
The grading criteria of the second processing unit 903 are:
first-order: the weight is more than or equal to 20g;
and (2) second-stage: the weight is more than or equal to 15g;
three stages: the weight is more than or equal to 10g;
four stages: the weight is more than or equal to 5g;
the grading result of the second processing unit 903 is the highest grade satisfied by the weight of white ganoderma lucidum.
In the grading result of the invention, the first level is the largest and the fourth level is the smallest. The specific classification contents are shown in Table 1.
TABLE 1
The grading standard is obtained by the inventor according to years of research, and is now proposed to apply for local standards.
The device is used for detecting the white glossy ganoderma dry product and carrying out manual actual judgment, and the result shows that the accuracy of the grading result of the device is 100 percent, and the inventor respectively extracts one photo of one glossy ganoderma in each grade, as shown in figures 7-10.
The detection result of the ganoderma lucidum shown in fig. 7 by the device of the invention is first-level, and the actual indexes are specifically: the fungus cover is semicircular, reddish brown, the fungus handle is cylindrical and dark reddish brown; the diameter of the fungus cover is 14.56cm, the thickness of the fungus cover is 1.89 and cm, the length of the fungus handle is 7.65cm, the diameter of the fungus handle is 2.23cm, and the dry weight of the whole ganoderma lucidum is 28.36g. The grading result is accurate.
The detection result of the ganoderma lucidum shown in fig. 8 through the device of the invention is two-stage, and the actual indexes are specifically: the fungus cover is fan-shaped, reddish brown, the fungus handle is cylindrical and dark reddish brown; the diameter of the fungus cover is 14.21cm, the thickness of the fungus cover is 1.35cm, the length of the fungus handle is 5.53cm, the diameter of the fungus handle is 1.62cm, and the dry weight of the whole ganoderma lucidum is 18.56g. The grading result is accurate.
The detection result of the ganoderma lucidum shown in fig. 9 through the device of the invention is three-level, and the actual indexes are specifically: fan-shaped and reddish brown fungus cover, broad and broad fungus handle and reddish brown fungus cover; the diameter of the fungus cover is 9.26cm, the thickness of the fungus cover is 1.28cm, the length of the fungus handle is 5.56cm, the diameter of the fungus handle is 2.32cm, and the dry weight of the whole ganoderma lucidum is 11.36g. The grading result is accurate.
The detection result of the ganoderma lucidum shown in fig. 10 through the device of the invention is four-level, and the actual indexes are specifically: fan-shaped, black and reddish brown, malformation of stipe and black brown; the diameter of the fungus cover is 5.86cm, the thickness of the fungus cover is 0.88cm, the length of the fungus handle is 3.57cm, the diameter of the fungus handle is 1.26cm, and the dry weight of the whole ganoderma lucidum is 5.27g. The grading result is accurate.
The foregoing has shown and described the basic principles, principal 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, and that the above embodiments and descriptions are merely illustrative of the principles of the present invention, and various changes and modifications may be made without departing from the spirit and scope of the invention, which is defined in the appended claims. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (7)
1. Full-automatic intelligent grading plant of white meat glossy ganoderma dry product, its characterized in that includes:
a feeding conveyor belt (1) for feeding and conveying the ganoderma lucidum;
the cavity (3) is used for receiving the ganoderma lucidum with white meat transmitted by the feeding conveyor belt (1); a grabbing clamp (4) is arranged in the cavity (3), and the grabbing clamp (4) is used for grabbing the tail part of the ganoderma lucidum stipe so that the fungus cover part is hung upside down and the ganoderma lucidum is arranged in the fixed cavity (3); the grabbing clamp (4) is provided with a weighing device (7), and the weighing device (7) is used for weighing the weight of the white ganoderma lucidum grabbed by the grabbing 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 also arranged in the cavity (3), and the cameras (6) are used for collecting images of the ganoderma lucidum stipe and the ganoderma lucidum cap which are grasped by the grasping clamp (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 lucidum 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 grabbing clamp (4), the gravity sensor (5), the camera (6) and the grading module (9); the device is used for controlling the operation of the grab clamp (4) and the operation of the camera (6) according to the data sensed by the gravity sensor (5); the device is also used for controlling the grabbing clamp (4) to work according to the grading result of the grading module (9);
the top of the cavity (3) is provided with a plurality of sliding rails (12), and the grabbing clamp (4) is arranged on the sliding rails (12) and can slide on the sliding rails (12);
five sliding rails (12) are arranged at the top of the cavity (3), and the four sliding rails penetrate out of the cavity (3) to be right above the classifying box (13) or the classifying driving belt (14) and then are connected with the head end of the fifth sliding rail (12); the tail end of the fifth sliding rail (12) is connected with the head ends of the four sliding rails (12); the grabbing clamp (4) is provided with a plurality of grabbing clamps; after the white ganoderma lucidum gripped by the first gripping clamp (4) positioned at the tail end of the fifth sliding rail (12) is classified by the classifying module (9), the control module (10) controls the gripping clamp (4) to the sliding rail (12) corresponding to the classifying box (13) or the classifying driving belt (14) of the corresponding class, and when the white ganoderma lucidum reaches the position right above the classifying box (13) or the classifying driving belt (14) of the corresponding class, the control module (10) controls the gripping clamp (4) to be loosened, so that the white ganoderma lucidum is placed in the classifying box (13) or on the classifying driving belt (14);
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);
the BP neural network module (901) is pre-stored with a BP neural network model, the BP neural network model takes the white ganoderma lucidum stipe and the fungus cover images processed by the image processor (8) as input and takes the grade of the white ganoderma lucidum 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 (902) is used for identifying the stipe of ganoderma lucidum, the diameter of the stipe, the thickness of the stipe, the length of the stipe and the diameter of the stipe in the image of the stipe processed by the image processor (8), and grading according to the identified result;
the second processing unit (903) is used for grading the ganoderma lucidum according to the weight weighed by the weighing device (7);
the grading unit (904) is used for obtaining a final white ganoderma lucidum grading result according to the grading results of the BP neural network module (901), the first processing unit (902) and the second processing unit (903);
final ganoderma lucidum grading result = min { grading result of BP neural network module (901), grading result of first processing unit (902), grading result of second processing unit (903) }.
2. The full-automatic intelligent grading device for the white ganoderma lucidum dried meat 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 the white ganoderma lucidum dry product according to claim 1, wherein the cavity (3) is a negative pressure cavity, and the negative pressure enables the white ganoderma lucidum stipe part to be sucked up by negative pressure and the fungus cover part to be hung down.
4. The full-automatic intelligent grading device for white ganoderma lucidum dry products according to claim 1, wherein the pretreatment comprises noise reduction and geometric correction.
5. The full-automatic intelligent grading device for the white ganoderma lucidum dried meat product according to claim 1 is characterized in that 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 symmetrical relative to the center of the white ganoderma lucidum stipe grasped by the grasping clamp (4); a light source (11) is arranged beside each camera (6).
6. The full-automatic intelligent grading device for white ganoderma lucidum dry products according to claim 1, wherein the grading standard of the first processing unit (902) is:
first-order: the diameter of the fungus cover is more than or equal to 14cm, the thickness of the fungus cover is more than or equal to 1.5cm, the length of the fungus handle is more than or equal to 6cm, and the diameter of the fungus handle is more than or equal to 2.0cm;
and (2) second-stage: the diameter of the fungus cover is more than or equal to 10cm, the thickness of the fungus cover is more than or equal to 1.0cm, the length of the fungus handle is more than or equal to 5cm, and the diameter of the fungus handle is more than or equal to 0.4cm;
three stages: the diameter of the fungus cover is more than or equal to 6cm, the thickness of the fungus cover is more than or equal to 0.6cm, the length of the fungus handle is more than or equal to 3cm, and the diameter of the fungus handle is more than or equal to 1cm;
four stages: the diameter of the fungus cover is more than or equal to 2cm, the thickness of the fungus cover is more than or equal to 0.4cm, the length of the fungus handle is more than or equal to 1cm, and the diameter of the fungus handle is more than or equal to 0.8cm;
the classification result of the first processing unit (902) is the highest grade that all four indexes of the ganoderma lucidum fungus cover diameter, fungus cover thickness, fungus handle length and fungus handle diameter are met.
7. The full-automatic intelligent grading device for white ganoderma lucidum dried meat according to claim 1, wherein the grading standard of the second processing unit (903) is:
first-order: the weight is more than or equal to 20g;
and (2) second-stage: the weight is more than or equal to 15g;
three stages: the weight is more than or equal to 10g;
four stages: the weight is more than or equal to 5g;
the grading result of the second processing unit (903) is the highest grade satisfied by the weight of white ganoderma lucidum.
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| JPH09294962A (en) * | 1996-05-01 | 1997-11-18 | Mitsubishi Heavy Ind Ltd | Fruit grading and packing facility |
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| 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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| 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 |
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