CN115382785A - Radish surface defect detection sorting platform and sorting method - Google Patents
Radish surface defect detection sorting platform and sorting method Download PDFInfo
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- CN115382785A CN115382785A CN202211241761.7A CN202211241761A CN115382785A CN 115382785 A CN115382785 A CN 115382785A CN 202211241761 A CN202211241761 A CN 202211241761A CN 115382785 A CN115382785 A CN 115382785A
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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
- B07C5/34—Sorting according to other particular properties
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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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Abstract
The invention relates to a radish surface defect detection sorting platform and a sorting method, wherein the sorting platform comprises a belt conveyor and an extension bracket which is fixedly connected with a rack and positioned above the belt conveyor, an industrial camera facing a conveyor belt and a sorting device positioned behind the industrial camera are arranged on the extension bracket, and the industrial camera is electrically connected with a controller; sorting device includes along left right direction extend and establish with guide rail, the slip of extension support rigid coupling slip table on the guide rail, and the drive actuating mechanism that removes about the slide rail is followed to the slip table, and the rigid coupling has the push pedal of downwardly extending to the conveyer belt top on the slip table, and forms the detection clearance between push pedal and the conveyer belt, install in the frame with detect the clearance along the relative photoelectric infrared sensor of left right direction. According to the invention, radishes with multiple roots, bending, damage and wormholes can be detected through visual identification, the detection and sorting of the surface defects of the radishes are realized, and the defects of single detection means and incomplete detection indexes in the prior art are effectively overcome.
Description
Technical Field
The invention relates to the technical field of agricultural mechanical equipment, in particular to the field of radish sorting, and specifically relates to a radish surface defect detection sorting platform and a sorting method.
Background
The defect detection of the appearance is an important link before the radish is sold on the market. At present, when the surface defect of the radish is detected, the radish is mainly sorted manually, the working strength is high, the efficiency is low, the reliability and the consistency are poor, and the development of the radish processing automation industry is seriously hindered.
The continuous development of computer technology enables more target identification technologies to be applied to the agricultural production link, which provides good conditions for the intelligent development of sorting machinery. But the research on the radish surface defect detection sorting platform is less at present.
The patent document with the application number of 2013100867017 discloses a carrot defect detection method and a carrot sorting device, and the carrot conveying and sorting are realized by adopting the combination of a roller conveying device and a fruit beating device, but in the conveying and sorting process, the roller and a radish always move relatively, the stability of the radish is poor, the phenomenon that the radish is clamped between the two rollers is easy to occur, the radish moves along the axial direction in the beating process and cannot rotate relative to the roller, if the radish is blocked, the radish is damaged, and the protection of the sorted radish is neglected.
Disclosure of Invention
The invention provides a radish surface defect detection sorting platform and a using method aiming at the problems of low intelligent degree, low efficiency and the like of the traditional radish sorting in China, and provides an effective solution for the intelligent sorting of fruits. The method can be used for intelligently sorting the radish surface defect detection, and has higher identification accuracy and sorting efficiency.
The invention is realized by the following technical scheme, and provides a radish surface defect detecting and sorting platform which comprises a belt conveyor arranged on a rack and an extension bracket fixedly connected with the rack and positioned above a conveyor belt of the belt conveyor, wherein an industrial camera facing the conveyor belt and a sorting device positioned behind the industrial camera are arranged on the extension bracket, and the industrial camera is electrically connected with a controller;
sorting device includes along left right direction extend and establish with guide rail, the slip of extension support rigid coupling the slip table on the guide rail, and the drive the actuating mechanism that removes about the slide table is followed the guide rail, actuating mechanism and controller electric connection, the rigid coupling has the push pedal that downwardly extending to the conveyer belt top on the slip table, and forms between push pedal and the conveyer belt and detect the clearance, detects highly being less than the turnip diameter in clearance, install in the frame with detect the clearance along the relative photoelectric infrared sensor of left right direction, photoelectric infrared sensor and controller electric connection.
According to the scheme, the conveyor belt is used for bearing the radishes, so that the radishes are conveyed, and the stability of the radishes during conveying is greatly improved due to the fact that the radishes and the conveyor belt are relatively static in the conveying process; the radish identified as a defect by the industrial camera is pushed out of the conveyor belt through the push plate, and the jamming phenomenon when the radish is pushed out is avoided due to the fact that the surface of the conveyor belt is a plane; through setting up the detection clearance, the photoelectric infrared sensor of being convenient for detects the turnip, only receives discernment defect turnip signal when actuating mechanism, and the turnip that receives the photoelectric infrared sensor detection has a signal, and actuating mechanism just drives the push pedal and releases the turnip to the accuracy of letter sorting has been improved greatly.
As optimization, reversing devices respectively positioned at the left side and the right side of the conveyor belt are installed on the rack, the reversing devices are arranged in a staggered mode along the left direction and the right direction, and the reversing devices are positioned in front of the industrial camera in the horizontal direction; the reversing device comprises a rotary damper installed on the rack and a shifting lever fixedly connected with a rotating part of the rotary damper, the shifting lever extends to the upper portion of the conveying belt, the distance between the shifting lever and the conveying belt is smaller than the diameter of the radishes, and the distance between the shifting lever on the left side and the distance between the shifting lever on the right side of the conveying belt are smaller than the length of the radishes. Through the arrangement of the optimized scheme, the transverse radishes are blocked by the shifting rod and are reversed towards longitudinal rotation, so that the included angle between the radishes and the push plate is reduced, the radishes are closer to be parallel to the push plate, and the sorting operation of the sorting device is more convenient; the deflector rod can rotate by 45 degrees forwards and backwards, so that the radish is prevented from being blocked and damaged.
As optimization, the discharge side of the conveyor belt and the discharge side of the sorting device are respectively provided with a buffer device, the buffer device comprises a flexible arc plate and two torsion springs, the flexible arc plate and the two torsion springs are obliquely arranged, one ends of the two torsion springs are respectively connected with two side edges of the flexible arc plate, the other ends of the torsion springs are connected with the frame, and the arc bottom of the flexible arc plate is positioned below the torsion springs in the height direction. According to the optimized scheme, the radishes are received through the arranged flexible arc-shaped plates, and the impact of the radishes when falling is reduced by means of the self-deformation of the flexible arc-shaped plates and the deformation of the torsion spring; through setting up buffer in two places, all protected flawless turnip and defective turnip, prevent that the in-process that the turnip dropped from the conveyer belt from taking place the damage.
As optimization, the industrial cameras are two, the industrial cameras are respectively arranged on the left side and the right side of the extension support, and the two industrial cameras adopt wide-angle lenses. The setting of this optimization scheme has effectually solved the problem of field of vision blind area, can gather more apparent defects.
As optimization, the limit switches matched with the sliding table are installed at the left end and the right end of the guide rail respectively and are electrically connected with the controller. This optimization scheme is through setting up limit switch at both ends about, and the position about the slip table of being convenient for control has improved automatic level.
As optimization, the front end and the rear end of the push plate are respectively provided with a baffle plate extending towards the side where the radishes are located. This optimization scheme has improved the reliability when releasing the defect turnip through set up the baffle at push pedal both ends, avoids the turnip dislocation that is promoted to break away from the push pedal.
As optimization, the sponge is fixedly arranged on the side surface of the push plate facing to the radish. This optimization scheme prevents that the push pedal motion from producing the damage to the turnip surface through set up the sponge on the push pedal.
The scheme also provides a sorting method using the sorting platform, which comprises the following steps:
1. the radish is conveyed from front to back through the belt conveyor, and when passing through the reversing device, the radish is reversed by the action of the shift lever, so that the included angle between the radish and the push plate is reduced;
2. when the radishes are conveyed to the corresponding position of the industrial camera, the industrial camera obtains pictures, the identification module detects real-time pictures of the radishes through a YOLO v4 network, frames detection results which meet surface defects in the training model and reach the confidence level with a standard through a rectangular frame, and sends serial port signals to the single chip microcomputer through a transmission module of the industrial personal computer;
3. when the single chip microcomputer receives a serial port signal transmitted by the industrial personal computer and the photoelectric infrared sensor detects the radish, the single chip microcomputer sends a pulse signal to the stepping motor, the stepping motor rotates forwards to drive a push plate fixed on the sliding table to move leftwards, and the radish is pushed out of the conveying belt; when a limit switch at the right end of the guide rail detects the sliding table, a signal is sent to the single chip microcomputer, and the stepping motor rotates reversely; when the limit switch at the left end of the guide rail detects the sliding table, the stepping motor stops moving, one-time sorting operation is completed, and a next sorting instruction of serial port signals is waited.
The invention has the beneficial effects that: the radish is conveyed by the conveyor belt, so that the stability of the radish in the conveying process is improved, and a push plate of the sorting device is conveniently aligned with the defective radish; by arranging the reversing device, the success rate of reversing is improved, the radish is closer to being parallel to the push plate, and the sorting operation of the sorting device is facilitated; by arranging the buffer device, the buffer effect is achieved on the radishes with the defects and the radishes without the defects, and the reduction of collision damage to the radishes with the defects is realized; by adopting the information asynchronous transmission mode, only when the radish existence signals for identifying the defect radish signals and the detection of the photoelectric sensor are generated, the sorting device is operated, and the sorting efficiency and accuracy are greatly improved.
Drawings
FIG. 1 is a sorting flow diagram of the present invention;
FIG. 2 is a schematic view of the overall structure of the present invention;
FIG. 3 is a schematic view of the sorting apparatus of the present invention;
FIG. 4 is a schematic view of a buffering mechanism according to the present invention;
FIG. 5 is a schematic view of a reversing device of the present invention;
FIG. 6 is an enlarged view of the upper portion of FIG. 1;
FIG. 7 is an enlarged view of the lower portion of the drawing, FIGS. 6 and 7 forming FIG. 1;
shown in the figure:
1. belt conveyor, 2, step motor, 3, switching-over device, 4, sorting device, 5, industrial camera, 6, push pedal, 7, photoelectric infrared sensor, 8, power unit, 10, extension support, 12, adjustable support, 21, guide rail, 22, slip table, 23, limit switch, 31, torsion spring, 32, flexible arc, 33, connecting plate, 41, driving lever, 42, rotary damper.
Detailed Description
In order to clearly illustrate the technical features of the present solution, the present solution is explained below by way of specific embodiments.
As shown in figure 2, the sorting platform for detecting the surface defects of the radishes comprises a belt conveyor 1 and an industrial personal computer which are installed on a rack, and an extension support 10 which is fixedly connected with the rack and located above a conveyor belt of the belt conveyor, wherein the conveyor belt of the belt conveyor is rotated by power transmitted by a power mechanism 8, the radishes are conveyed forwards and backwards, and the industrial personal computer 11 is fixed with the rack through bolts.
The extension support spans in the top of belt conveyor, rather than keeping the perpendicular in the space, and the extension support of this embodiment includes rigid coupling roof-rack and landing leg as an organic whole, the lower extreme and the frame rigid coupling of landing leg, install on the roof-rack of extension support towards the industrial camera 5 of conveyer belt and be located the sorting device 4 at industrial camera rear, industrial camera electric connection controller, the specific model that the controller of this embodiment adopted the singlechip can be selected according to actual conditions. The industrial cameras 5 are respectively arranged on the left side and the right side of the expansion support and are symmetrically arranged, and image information of radishes is acquired in real time. The two industrial cameras adopt wide-angle lenses, so that the problem of visual field blind areas is effectively solved, and more appearance defects can be acquired. The industrial camera is connected with the industrial personal computer through the USB connecting wire, so that the connecting structure is further simplified, and the interface universality is high. In order to adjust the direction of the industrial camera conveniently, the adjustable bracket 12 is arranged on the extension bracket, and the industrial camera is mounted on the adjustable bracket, so that the industrial camera can rotate freely up, down, left and right. The adjustable support adopts the prior art, and the details are not repeated.
Sorting device 4 includes along left right direction extend and establish with guide rail 21, the slip of extension support rigid coupling slide table 22 on the guide rail, and the drive slide table moves actuating mechanism about along the guide rail, actuating mechanism and controller electric connection, the actuating mechanism of this embodiment is step motor 2, and the lead screw in the lead screw nut mechanism is connected to step motor 2's delivery end, nut and slip table rigid coupling in the lead screw nut mechanism have downward vertical push pedal 6 that extends to the conveyer belt top through the bolt rigid coupling on the slip table, and forms the detection clearance between push pedal and the conveyer belt, and the height in detection clearance is less than the turnip diameter to conveniently promote the turnip, provide the passageway for photoelectric infrared sensor's detection simultaneously, install in the frame with detect the clearance along the relative photoelectric infrared sensor 7 in left and right directions, photoelectric infrared sensor 7 and controller electric connection, photoelectric infrared sensor and the turnip of treating the letter sorting are located the left and right sides in detection clearance respectively. For convenience of manufacture, the push plate of the embodiment is a T-shaped metal push sheet. The baffle that extends towards turnip place side is equipped with respectively at both ends around the push pedal to the increase is to the area of enclosing of turnip, can reduce because the motion of letter sorting in-process conveyer belt leads to pushing away the askew condition with the turnip. The side of push pedal towards turnip place side has set firmly the sponge, when contacting with the turnip, can reduce the collision damage to the turnip.
And the left end and the right end of the guide rail are respectively provided with a limit switch 23 matched with the sliding table, and the limit switches are electrically connected with the controller. When the limit switch at the left end detects the sliding platform, the stepping motor rotates reversely, and when the limit switch at the right end detects the sliding platform, the stepping motor stops rotating. Specifically, sorting device is whole by single chip microcomputer control, and when the serial ports signal that the industrial computer transmitted was received to the singlechip, the corotation of single chip microcomputer control motor when the limit switch that is located the guide rail left end detected the slide table, sends the signal to the singlechip, and the control motor reversal, when the limit switch that is located the guide rail right-hand member detected the slide table, sent the signal to the singlechip, and the motor stall accomplishes a letter sorting operation, waits for next letter sorting signal.
The frame is provided with reversing devices 3 which are respectively positioned at the left side and the right side of the conveyor belt, and the reversing devices are arranged in a staggered mode along the left-right direction, namely the reversing devices at the two sides are not opposite in the left-right direction, and the reversing devices are positioned in front of the industrial camera in the horizontal direction. Specifically, the switching-over device is including installing rotary damper 42 in the frame, and with driving lever 41 of rotary damper's rotating part rigid coupling, rotary damper's fixed part passes through bolt and frame rigid coupling, the driving lever horizontally extends to the conveyer belt top, and the vertical distance between driving lever and the conveyer belt is less than the turnip diameter, a left side, the interval of the driving lever of right side along left right direction is less than the length of turnip, 45 undulant around the driving lever can, when the turnip one end of the direction of non-parallel T type metal push jack contacts with the driving lever, the driving lever slowly is partial to turnip direction of advance under the effect of attenuator, under the frictional force effect of the reaction force of driving lever and conveyer belt, the turnip accomplishes the switching-over, the switching-over device that the mistake was placed, can be with lieing in the different positions on the conveyer belt, change from the direction of non-parallel T type metal push jack to being close to being parallel to T type metal push jack, the success rate of switching-over has been improved, the letter sorting operation of sorting device after the convenience.
The discharge side of conveyer belt and sorting device's discharge side is equipped with buffer respectively, buffer includes flexible arc 32 and two torsion spring 31 that the slope set up, and two torsion spring's one end is connected with the both sides limit of flexible arc respectively, and torsion spring's the other end is connected with the frame, and the arc bottom of flexible arc is located torsion spring's below in the direction of height. In order to facilitate the installation of the torsion spring, in this embodiment, a connecting plate 33 is fixedly disposed on the frame, and one end of the torsion spring, which is far away from the flexible arc-shaped plate, is fixedly connected to the connecting plate 33. The end of flexible arc aligns with the center of collecting basket, and the turnip rolls back through buffer from the conveyer belt, and torque spring makes flexible arc slope after the pressure compression that receives the turnip, and the turnip slides in the collecting basket, realizes the collection of turnip, and after the turnip slided into the collecting basket, original position was resumeed to flexible arc again, and the collision injury when can reducing the turnip letter sorting back and dropping into the letter sorting basket from the conveyer belt.
The industrial personal computer comprises a control algorithm of a platform, the control algorithm comprises an identification module and a conveying module, the identification module detects radish pictures through YOLO v4, radish defects are divided into root multiple heads, bends, wormholes and damages, radish images with confidence degrees meeting the range of surface defects are kept for detection results, serial port signals are sent to a single chip microcomputer through the conveying module, and the movement of a stepping motor is controlled to drive a sliding table and a T-shaped metal push piece to move.
A sorting method using the sorting platform of the embodiment comprises the following steps:
1. when the platform starts to load the radishes to run, the industrial personal computer is started, the radishes are conveyed from front to back through the belt conveyor, and when the radishes pass through the reversing device, the radishes are reversed by utilizing the action of the shifting rod, so that the included angle between the radishes and the push plate is reduced, and the directions of the radishes are changed into the directions which are more parallel to the push plate;
2. when the radishes are conveyed to the corresponding position of the industrial camera, the industrial camera obtains pictures, the identification module detects real-time pictures of the radishes through a YOLO v4 network, frames detection results which meet surface defects in the training model and reach the confidence level with a standard through a rectangular frame, and sends serial port signals to the single chip microcomputer through a transmission module of the industrial personal computer; radish defects include root multiheaded, crooked, wormhole and injury;
3. when the single chip microcomputer receives serial port signals transmitted by the industrial personal computer and the photoelectric infrared sensor detects radishes, the single chip microcomputer sends pulse signals to the stepping motor, the stepping motor rotates forwards to drive the push plate fixed on the sliding table to move leftwards, and the radishes are pushed out of the conveying belt; when a limit switch at the right end of the guide rail detects the sliding table, a signal is sent to the single chip microcomputer, and the stepping motor rotates reversely; when the limit switch at the left end of the guide rail detects the sliding table, the stepping motor stops moving, one-time sorting operation is completed, and a next sorting instruction of serial port signals is waited.
According to the invention, an information asynchronous transfer mode is adopted, when the industrial camera acquires image information and detects a defective radish through the identification module, the industrial personal computer firstly sends a serial port signal to the single chip microcomputer, and then sends a signal to the single chip microcomputer to drive the sorting device to operate when the photoelectric infrared sensor detects that a target radish arrives, so that the sorting efficiency and accuracy are improved. Through visual identification, the radish with multiple roots, bending, damage and moth eyes can be detected, the detection and sorting of the surface defects of the radish are realized, and the defects of single detection means and incomplete detection indexes in the prior art are effectively overcome.
Of course, the above description is not limited to the above examples, and the undescribed technical features of the present invention can be implemented by or using the prior art, and will not be described herein again; the above embodiments and drawings are only for illustrating the technical solutions of the present invention and not for limiting the present invention, and the present invention has been described in detail with reference to the preferred embodiments, it should be understood by those skilled in the art that changes, modifications, additions or substitutions within the spirit and scope of the present invention may be made by those skilled in the art without departing from the spirit of the present invention, and shall also fall within the scope of the claims of the present invention.
Claims (8)
1. The utility model provides a turnip surface defect detects letter sorting platform which characterized in that: the automatic sorting machine comprises a belt conveyor (1) installed on a rack and an expansion support (10) fixedly connected with the rack and located above a conveyor belt of the belt conveyor, wherein an industrial camera (5) facing the conveyor belt and a sorting device (4) located behind the industrial camera are installed on the expansion support, and the industrial camera is electrically connected with a controller;
sorting device (4) include along left right direction extend and establish with guide rail (21), the slip of extension support rigid coupling slip table (22) on the guide rail, and the drive actuating mechanism that the slip table removed about along the guide rail, actuating mechanism and controller electric connection, rigid coupling have push pedal (6) that downwardly extending to the conveyer belt top on the slip table, and form between push pedal and the conveyer belt and detect the clearance, detect highly being less than the turnip diameter in clearance, install in the frame with detect the clearance along the relative photoelectric infrared sensor of left right direction, photoelectric infrared sensor and controller electric connection.
2. The radish surface defect detecting and sorting platform according to claim 1, characterized in that: reversing devices (3) respectively positioned at the left side and the right side of the conveyor belt are arranged on the rack, the reversing devices are arranged in a staggered manner along the left direction and the right direction, and the reversing devices are positioned in front of the industrial camera in the horizontal direction; the reversing device comprises a rotary damper (42) installed on the rack and a shifting lever (41) fixedly connected with a rotating part of the rotary damper, the shifting lever extends to the upper part of the conveying belt, the distance between the shifting lever and the conveying belt is smaller than the diameter of the radishes, and the distance between the shifting lever on the left side and the distance between the shifting lever on the right side of the conveying belt are smaller than the length of the radishes.
3. The radish surface defect detecting and sorting platform according to claim 1, characterized in that: the discharging side of conveyer belt and sorting device's discharging side are equipped with buffer respectively, buffer includes flexible arc (32) and two torsion spring (31) that the slope set up, and two torsion spring's one end is connected with the both sides limit of flexible arc respectively, and torsion spring's the other end is connected with the frame, and the arc bottom of flexible arc is located torsion spring's below in the direction of height.
4. The radish surface defect detecting and sorting platform according to claim 1, characterized in that: the industrial cameras (5) are arranged on the left side and the right side of the extension support respectively, and the two industrial cameras adopt wide-angle lenses.
5. The radish surface defect detecting and sorting platform according to claim 1, characterized in that: and the left end and the right end of the guide rail are respectively provided with a limit switch (23) matched with the sliding table, and the limit switches are electrically connected with the controller.
6. The radish surface defect detecting and sorting platform according to claim 1, characterized in that: the front end and the rear end of the push plate are respectively provided with a baffle plate extending towards the side where the radishes are located.
7. The radish surface defect detecting and sorting platform according to claim 6, characterized in that: sponge is fixedly arranged on the side surface of the push plate facing to the radish.
8. A sorting method using the sorting platform of any one of claims 1~7 comprising the aspects of:
(1) The radish is conveyed from front to back through the belt conveyor, and when passing through the reversing device, the radish is reversed by the action of the shift lever, so that the included angle between the radish and the push plate is reduced;
(2) When the radishes are conveyed to the corresponding position of the industrial camera, the industrial camera acquires a picture, the identification module detects the real-time picture of the radishes through a YOLO v4 network, frames a detection result which meets the surface defects of the radishes in the training model and reaches the confidence level standard by using a rectangular frame, and sends a serial port signal to the single chip microcomputer through a transmission module of the industrial personal computer;
(3) When the single chip microcomputer receives a serial port signal transmitted by the industrial personal computer and the photoelectric infrared sensor detects the radish, the single chip microcomputer sends a pulse signal to the stepping motor, the stepping motor rotates forwards to drive a push plate fixed on the sliding table to move leftwards, and the radish is pushed out of the conveying belt; when a limit switch at the right end of the guide rail detects the sliding table, a signal is sent to the single chip microcomputer, and the stepping motor rotates reversely; when the limit switch at the left end of the guide rail detects the sliding table, the stepping motor stops moving, one-time sorting operation is completed, and a next sorting instruction of serial port signals is waited.
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| CN202211241761.7A CN115382785A (en) | 2022-10-11 | 2022-10-11 | Radish surface defect detection sorting platform and sorting method |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117483264A (en) * | 2023-12-29 | 2024-02-02 | 新乡市口口妙食品有限公司 | Conveying equipment for bread packaging and using method thereof |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117483264A (en) * | 2023-12-29 | 2024-02-02 | 新乡市口口妙食品有限公司 | Conveying equipment for bread packaging and using method thereof |
| CN117483264B (en) * | 2023-12-29 | 2024-03-22 | 新乡市口口妙食品有限公司 | Conveying equipment for bread packaging and using method thereof |
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