CN1429668A - Mechanical vision fruit classifying system controlled by shift register - Google Patents
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Abstract
A fruit classification system with mechanical vision controlled by shift register is composed of an external power unit, a delivery unit and a classifying unit which are composed of two chain wheels and chain, an encoder installed on the delivery unit, an image acquisition card in computer, an illuminating box, a camera in the illuminating box, a computer, a shift register set connected to the computer and the classifying unit, a discharge port, and a software. Its advantages are no destruction to fruit.
Description
Technical field
The present invention relates to a kind of machine vision fruit grading system that adopts shift register control.
Background technology
At present, the processing horizontal in postpartum of China's fruit is also very low, and the nulliparity aftertreatment is just directly gone on the market behind most of fruit picking, has influenced the commodity value of fruit.Also there are some fruit to be judged by artificial and naked eyes identification according to the integrality of its degree of ripeness, surface imperfection, carpopodium and the classification of classification indexs such as size, weight, thereby the classification of fruit has bigger subjectivity, efficient is quite low, has greatly hindered the development of Chinese national economy and the raising of farmers' income.Existing fruit grading equipment mainly is by one or two indexs such as the weight of fruit and sizes, the former adopts modes such as sieve aperture, cylinder gap to carry out, the latter mainly is the equipment that utilizes electronic scale, dynamic balance support to carry out classification, this kind equipment can't classification to the fruit that has surface imperfection, fruit shape uniqueness, and has in the classification process deficiency such as easy damaged fruit surface.
Summary of the invention
The present invention relates to a kind of can levying by outside things such as fruit size, epidermis color, surface imperfection, fruit shape, surface flatnesses, the purpose of this invention is to provide a kind of shift register that utilizes and follow the tracks of the machine of realizing automatic classification synchronously, and testing process is the machine vision fruit grading system of the employing shift register control of Non-Destructive Testing.
Technical scheme of the present invention is as follows: comprise scrambler, conveying device, lighting box, video camera, computing machine, image pick-up card, several shift register group are with the classification mechanism controller of shift register group corresponding number, classification mechanism, grading plant, discharging opening, fruit grading software.1) conveying device and grading plant are formed by two sprocket wheels and two chains that are looped around on the sprocket wheel, and power is input on the grading plant by the outside, synchronously is delivered on the conveying device by grading plant again; 2) scrambler is installed on the conveying device, links to each other with image pick-up card in being installed in computing machine by lead; 3) lighting box is installed in the conveying device top; The position for video camera links to each other with image pick-up card by cable in lighting box; 4) computing machine links to each other with shift register group by parallel port, and several shift register group link to each other with classification mechanism on being installed in grading plant by classification mechanism controller separately; 5) discharging opening is installed in the grading plant below, and corresponding with classification mechanism; In computer-internal, be provided with the fruit grading software of handling fruit image.
The fruit grading software of installing on computers can carry out the classification processing to fruit image, and, make fruit carry out automatic classification by surfaces such as fruit size, epidermis color, surface imperfection, fruit shape, surface flatnesses according to the action of the real-time control classification control gear of result.
The invention has the beneficial effects as follows: can utilize shift register to follow the tracks of synchronously by surfaces such as fruit size, epidermis color, surface imperfection, fruit shape, surface flatnesses and realize automatic classification, and testing process is Non-Destructive Testing.
Description of drawings
Fig. 1 is a structural principle block diagram of the present invention;
Fig. 2 is the grading plant synoptic diagram;
Fig. 3 is that fruit image is handled and the classification process synoptic diagram;
Fig. 4 is shift-register circuit figure;
Fig. 5 is classification mechanism controller circuitry figure;
Fig. 6 is the working position synoptic diagram that classification mechanism opens the door and closes the door;
Fig. 7 is the time sequence status figure of classification mechanism controller work.
Embodiment
As shown in Figure 1, it comprises scrambler 1, conveying device 2, lighting box 3, video camera 4, computing machine 5, image pick-up card 6, shift register group 7 is with the classification mechanism controller 8 of shift register group corresponding number, classification mechanism 9, grading plant 10, discharging opening 11, fruit grading software 12; Conveying device 2 and grading plant 10 are formed by two sprocket wheels and two chains that are looped around on the sprocket wheel, and power is input on the grading plant 10 by the outside, synchronously is delivered on the conveying device 2 by grading plant 10 again; Scrambler 1 is installed on the conveying device, links to each other with image pick-up card 6 in being installed in computing machine by lead; Lighting box 3 is installed in the conveying device top; Video camera 4 is positioned at lighting box, links to each other with image pick-up card 6 by cable; Computing machine 5 links to each other with shift register group 7 by parallel port, and shift register group 7 links to each other with classification mechanism 9 on being installed in grading plant 10 by classification mechanism controller 8 separately; Discharging opening 11 is installed in grading plant 10 belows, and corresponding with classification mechanism 9; In computing machine 5 inside, be provided with the fruit grading software 12 of handling fruit image.
The fruit grading software that is installed on the computing machine 5 can carry out the classification processing to fruit image, and, make fruit carry out automatic classification by surfaces such as fruit size, epidermis color, surface imperfection, fruit shape, surface flatnesses according to the action of the real-time control classification control gear of result.
Shown in Fig. 2 a, Fig. 2 b, grading plant 10 is by sprocket wheel 10.1, hopper 10.2, and guide rail 10.3, guide plate 10.5, chain 10.6 is formed; Guide rail 10.3 segmentations are installed on the grading plant 10, and hopper 10.2 is installed on the chain 10.6, and the sliding axle 10.4 of hopper 10.2 can be free to slide on guide rail 10.3, and classification mechanism 9 is filled up the breach of guide rail 10.3, and guide plate 10.5 is installed in classification mechanism 9 belows.
Shown in Fig. 6 a, Fig. 6 b, mechanical classification mechanism 9 is by ledger-plate 9.1, cutting blade 9.2, and little axle 9.3, dead man 9.4, stator 9.5, stator winding I9.6, stator winding II9.7, spacer pin I9.8, rotating shaft 9.9, spacer pin II9.10, rotor 9.11; Cutting blade 9.2 is installed in ledger-plate 9.1 by little axle 9.3, can rotate around little axle 9.3, stator 9.5 is installed on the ledger-plate 9.1, rotor 9.11 is installed on the stator 9.5 by rotating shaft 9.9, rotor 9.11 can 9.9 rotate around the shaft, and dead man 9.4 is fixed on rotating shaft 9.9, can 9.9 rotate around the shaft with rotor 9.11, stator winding I9.6 and stator winding II9.7 are fixed on the stator 9.5, and spacer pin I9.8 and spacer pin II9.10 are fixed on the stator.
As shown in Figure 4, shift register group comprises shift register A1, A31, A32, A33, data selector A21, A22, A23, resistance and switch; Shift register A1 adopts 74LS164, and shift register A31～A33 adopts 4006, and data selector A21～A23 is 4512.
Shift register A1, A31, A32, the clock signal of A33 is produced by scrambler 1, and the control end A of shift register A1, B and C are connected on an end of power positive end and switch SW 1 respectively by resistance R 1～R3, and the other end of switch SW 1 is by ground; Data selector A21, the control end A of A22, B links to each other with C is corresponding, and is connected on an end of power positive end and switch SW 2 respectively by resistance R 4～R6, and the other end of switch SW 2 is by ground; Output terminal Q0～Q7 of shift register A1 links to each other with data input pin X0～X7 of data selector A21 respectively.
The data output end Z of data selector A21 links to each other with the data input pin D1 of shift register A31.
The data output end Q4 of shift register A31 links to each other with the data input pin D10 of self, data output end Q13 links to each other with its data input end D5, data output end Q9 links to each other with the data input pin X0 of its data input end D14 and data selector A22 respectively, data output end Q18 links to each other with the data input pin D5 of shift register A32 and the data input pin X1 of data selector A22 respectively, and data output end Q8 links to each other with X1 with the data input pin X0 of data selector A23 respectively with data output end Q17.
The data output end Q9 of shift register A32 links to each other with the data input pin X2 of its data input end D14 and data selector A22 respectively, data output end Q18 links to each other with the data input pin D5 of shift register A33 and the data input pin X3 of data selector A22 respectively, and data output end Q8 links to each other with X3 with the data input pin X2 of data selector A23 respectively with data output end Q17.
The data output end Q9 of shift register A33 links to each other with the data input pin X4 of its data input end D14 and data selector A22 respectively, data output end Q18 links to each other with the data input pin D5 of shift register A33 and the data input pin X5 of data selector A22 respectively, and data output end Q8 links to each other with X5 with the data input pin X4 of data selector A23 respectively with data output end Q17.
As shown in Figure 5, the classification mechanism controller mainly comprises monostalbe trigger A4A, A4B, and phase inverter A8A, A8B is with door A7A, A7B.Monostalbe trigger A4A, A4B adopts 4528, and phase inverter adopts 4069, adopts 4081 with door.
The triggering input end A of monostalbe trigger A4A is connected on the scrambler 1, B termination high level, output terminal Q links to each other with the triggering input end B of monostalbe trigger A4B and the negative pole of diode D4 respectively, the triggering input end A ground connection of monostalbe trigger A4B, and output terminal Q is connected on the negative pole of diode D1.
The data output end Z output signal M2 of data selector A22 connects the input end of phase inverter A8A, the input end of phase inverter A8A is connected on an input end with door A7A, the data output end Z output signal M1 of data selector A23 be connected on the door A7A another input end, with door A7A output terminal be connected on the clear terminal CLR of monostalbe trigger A4A.
The data output end Z output signal M1 of data selector A23 connects the input end of phase inverter A8B, the input end of phase inverter A8B is connected on an input end with door A7B, the data output end Z output signal M2 of data selector A22 be connected on the door A7B another input end, with door A7B output terminal be connected on the clear terminal CLR of monostalbe trigger A4B.
The positive pole of diode D1 links to each other with the positive pole of diode D2, and be connected on positive source by resistance R 9, the negative pole of diode D2 is connected on the base stage of triode T1, the emitter of triode T1 is connected in the base stage of triode T2, the collector of triode T2 is pressed at positive source by stator winding I9.6, diode D3 negative pole is connected on positive source, and stator winding I9.6 parallel connection.
The positive pole of diode D4 links to each other with the positive pole of diode D5, and be connected on positive source by resistance R 13, the negative pole of diode D5 is connected on the base stage of triode T3, the emitter of triode T3 is connected in the base stage of triode T4, the collector of triode T4 is pressed at positive source by stator winding II9.7, diode D6 negative pole is connected on positive source, and stator winding I9.7 parallel connection.
By shift register group 7, classification mechanism controller 8, classification mechanism 9 constitutes a group, and the required level data of its number and fruit grading are corresponding.By by-pass cock SW1 and SW2, can make the data output of shift register group 7 corresponding with corresponding fruit rank.
During work, fruit is transported in the lighting box 3 by conveying device 2, and for the camera acquisition image, in conveying device 2 motion processes, scrambler 1 produces synchronizing signal CP, and this signal outputs to image pick-up card 6 and shift register group 7 respectively.Be transported to the trigger pip of the synchronizing signal CP of image pick-up card as computing machine 5 images acquired, the synchronizing signal CP that is transported to shift register group 7 makes that then as the clock signal of shift register group 7 data in the shift register group 7 are corresponding with the fruit position.When fruit moves to certain position, scrambler 1 produces synchronizing signal and triggers video camera 4 by image pick-up card 6 and begins sampling, and the signal of collection passes through concentric cable input picture capture card 6, and then imports computing machine 5 into, carry out a series of processing by computing machine 5, the process of processing is seen Fig. 2.Computing machine 5 results are by parallel port input shift register group 7.Handle in the process of image at computing machine 5, conveying device 2 continues to move ahead, do not hold at it fruit is transferred on the grading plant 10, when fruit moves to certain classification position on mechanism's grading plant 10, the corresponding data position of shift register group 7 also arrives corresponding position, if this fruit belongs to this rank, the then synchronizing signal acting in conjunction of the data-signal of shift register group 7 and scrambler 1 generation, make classification mechanism controller 8 generate a pulse, this pulse is transported to the stator winding I9.1 of classification mechanism 9 after power amplification, stator 9.5 internal magnetic fields change, promote rotor 9.11 and be rotated counterclockwise, drive dead man 9.4 and rotate counterclockwise, cutting blade 9.2 loses support, under action of gravity, turn clockwise, the breach of guide rail 10.3 is opened, and the fruit hopper slides along ledger-plate, when arriving to a certain degree, the upset of hopper makes fruit from wherein rolling out, and carries out discharging opening 11 along guide plate 10.5.Closing by 8 time-delays of classification mechanism controller of classification door finished, after the breach of guide rail 10.3 was opened, classification mechanism controller 8 triggers were at b point shown in Figure 7, the negative edge of A4A pulse triggers A4B and produces a pulse, this signal makes stator winding I9.1 energising after power amplification, change the internal magnetic field of stator 9.5 once more, promoting rotor 9.11 turns clockwise, and then drive dead man 9.4 and turn clockwise, cutting blade 9.2 is propped up the breach of rail closure 10.3.
The processing procedure of 5 pairs of fruit images of computing machine as shown in Figure 3, fruit is through after the image acquisition, carry out image rectification again, through a series of image transformation, can carry out a series of individual events such as size detection, SHAPE DETECTION, color detection, defects detection, surface flatness detects, obtain each individual event testing result, these results are as the value parameter input of diversity module.Form grading criterion together by fruit grading national standard and fruit database, user's man-machine interface, before machine works, deposit diversity module in as parameter, diversity module is carried out classification according to the detected fruit external characteristic of previous step parameter to fruit, classification results forms the step control signal, the action of this control signal control fruit grading mechanism makes fruit carry out corresponding discharging opening 11.
The classification process of diversity module is: according to grading criterion, the every index of the fruit of different stage can be represented by a concrete numerical value, diversity module detects the data that obtain according to each detection module to current fruit, compare respectively with desired values at different levels, can obtain every index which rank respectively, get the rank that one-level minimum in these indexs should belong to as current fruit.For example, a certain fruit has 3 indexs all to be in 1 grade, only has an index to be in 2 grades, and then this fruit belongs in 2 grades.
Claims (5)
1. machine vision fruit grading system that adopts shift register control, it is characterized in that: it comprises scrambler (1), conveying device (2), lighting box (3), video camera (4), computing machine (5), image pick-up card (6), shift register group (7), with the classification mechanism controller (8) of shift register group corresponding number, classification mechanism (9), grading plant (10), discharging opening (11), fruit grading software (12); 1) conveying device (2) and grading plant (10) are formed by two sprocket wheels (10.1) and two chains (10.6) that are looped around on the sprocket wheel, power is input on the grading plant (10) by the outside, synchronously is delivered on the conveying device (2) by grading plant (10) again; 2) scrambler (1) is installed on the conveying device (2), by lead be installed in computing machine in the image pick-up card (6) of (5) link to each other; 3) lighting box (3) is installed in conveying device (2) top; Video camera (4) is positioned at lighting box (3), links to each other with image pick-up card (6) by cable; 4) computing machine (5) links to each other with shift register group (7) by parallel port, and shift register group (7) links to each other with classification mechanism (9) on being installed in grading plant (10) by classification mechanism controller (8) separately; 5) discharging opening (11) is installed in grading plant (10) below, and corresponding with classification mechanism (9); 6), be provided with the fruit grading software (12) of handling fruit image in computing machine (5) inside.
2. the machine vision fruit grading system of employing shift register control according to claim 1 is characterized in that said grading plant (10) comprises sprocket wheel (10.1), hopper (10.2), guide rail (10.3), guide plate (10.5), chain (10.6); Guide rail (10.3) segmentation is installed on the grading plant (10), hopper (10.2) is installed on the chain (10.6), the sliding axle (10.4) of hopper (10.2) can be free to slide on guide rail (10.3), classification mechanism (9) is filled up the breach of guide rail (10.3), and guide plate (10.5) is installed in classification mechanism (9) below.
3. the machine vision fruit grading system of employing shift register control according to claim 1, it is characterized in that: it comprises ledger-plate (9.1), cutting blade (9.2), little axle (9.3), dead man (9.4), stator (9.5), stator winding I (9.6), stator winding II (9.7), spacer pin I (9.8), rotating shaft (9.9), spacer pin II (9.10), rotor (9.11); Cutting blade (9.2) is installed on the ledger-plate (9.1) by little axle (9.3), can rotate around little axle (9.3), stator (9.5) is installed on the ledger-plate (9.1), rotor (9.10) is installed on the stator (9.5) by rotating shaft (9.9), rotor (9.10) (9.9) around the shaft rotates, dead man (9.4) is fixed in the rotating shaft (9.9), can be with rotor (9.10) (9.9) rotation around the shaft, stator winding I (9.6) and stator winding II (9.7) are fixed on the stator (9.5), and spacer pin I (9.8) and spacer pin II (9.11) are fixed on the stator (9.5).
4. the machine vision fruit grading system of employing shift register control according to claim 1 is characterized in that:
It comprises shift register A1, A31, A32, A33, data selector A21, A22, A23, resistance and switch; Shift register A1 adopts 74LS164, and shift register A31～A33 adopts 4006, and data selector A21～A23 is 4512;
1) shift register A1, A31, A32, the clock signal of A33 is produced by scrambler (1), and the control end A of shift register A1, B and C are connected on an end of power positive end and switch SW 1 respectively by resistance R 1～R3, and the other end of switch SW 1 is by ground; Data selector A21, the control end A of A22, B links to each other with C is corresponding, and is connected on an end of power positive end and switch SW 2 respectively by resistance R 4～R6, the other end ground connection of switch SW 2; Output terminal Q0～Q7 of shift register A1 links to each other with data input pin X0～X7 of data selector A21 respectively;
2) the data output end Z of data selector A21 links to each other with the data input pin D1 of shift register A31;
3) the data output end Q4 of shift register A31 links to each other with the data input pin D10 of self, data output end Q13 links to each other with its data input end D5, data output end Q9 links to each other with the data input pin X0 of its data input end D14 and data selector A22 respectively, data output end Q18 links to each other with the data input pin D5 of shift register A32 and the data input pin X1 of data selector A22 respectively, and data output end Q8 links to each other with X1 with the data input pin X0 of data selector A23 respectively with data output end Q17;
4) the data output end Q9 of shift register A32 links to each other with the data input pin X2 of its data input end D14 and data selector A22 respectively, data output end Q18 links to each other with the data input pin D5 of shift register A33 and the data input pin X3 of data selector A22 respectively, and data output end Q8 links to each other with X3 with the data input pin X2 of data selector A23 respectively with data output end Q17;
5) the data output end Q9 of shift register A33 links to each other with the data input pin X4 of its data input end D14 and data selector A22 respectively, data output end Q18 links to each other with the data input pin D5 of shift register A33 and the data input pin X5 of data selector A22 respectively, and data output end Q8 links to each other with X5 with the data input pin X4 of data selector A23 respectively with data output end Q17.
5. the machine vision fruit grading system of employing shift register control according to claim 1 is characterized in that:
It comprises monostalbe trigger A4A, A4B, and phase inverter A8A, A8B is with door A7A, A7B.Monostalbe trigger A4A, A4B adopts 4528, and phase inverter adopts 4069, adopts 4081 with door;
1) the triggering input end A of monostalbe trigger A4A is connected on the scrambler (1), B termination high level, output terminal Q links to each other with the triggering input end B of monostalbe trigger A4B and the negative pole of diode D4 respectively, the triggering input end A ground connection of monostalbe trigger A4B, output terminal Q is connected on the negative pole of diode D1;
2) the data output end Z output signal M2 of data selector A22 connects the input end of phase inverter A8A, the input end of phase inverter A8A is connected on an input end with door A7A, the data output end Z output signal M1 of data selector A23 be connected on the door A7A another input end, with door A7A output terminal be connected on the clear terminal CLR of monostalbe trigger A4A;
3) the data output end Z output signal M1 of data selector A23 connects the input end of phase inverter A8B, the input end of phase inverter A8B is connected on an input end with door A7B, the data output end Z output signal M2 of data selector A22 be connected on the door A7B another input end, with door A7B output terminal be connected on the clear terminal CLR of monostalbe trigger A4B;
4) positive pole of diode D1 links to each other with the positive pole of diode D2, and be connected on positive source by resistance R 9, the negative pole of diode D2 is connected on the base stage of triode T1, the emitter of triode T1 is connected in the base stage of triode T2, the collector of triode T2 is pressed at positive source by stator winding I (9.6), diode D3 negative pole is connected on positive source, and stator winding I (9.6) parallel connection;
5) positive pole of diode D4 links to each other with the positive pole of diode D5, and be connected on positive source by resistance R 13, the negative pole of diode D5 is connected on the base stage of triode T3, the emitter of triode T3 is connected in the base stage of triode T4, the collector of triode T4 is pressed at positive source by stator winding II (9.7), diode D6 negative pole is connected on positive source, and stator winding I (9.7) parallel connection.
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| CN 02160193 CN1210112C (en) | 2002-12-27 | 2002-12-27 | Mechanical vision fruit classifying system controlled by shift register |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN100337243C (en) * | 2003-12-31 | 2007-09-12 | 中国农业大学 | A fruit surface image collection system and method |
| CN100365411C (en) * | 2005-01-31 | 2008-01-30 | 浙江大学 | Detection method suited on surface of spherical fruit triggered to collect images based on need and equipment |
| CN101898191A (en) * | 2010-07-16 | 2010-12-01 | 浙江大学 | Weighting method and fruit weighting grading system adopting DSP (Digital Signal Processor) processing module and intelligent algorithm |
| CN102750547A (en) * | 2012-06-11 | 2012-10-24 | 陕西科技大学 | Fruit size grading method based on compressed sensing |
| CN103196835A (en) * | 2013-04-10 | 2013-07-10 | 浙江大学 | Target tracking device for internal quality detection process of agricultural products |
| CN108855977A (en) * | 2018-05-03 | 2018-11-23 | 江苏大学 | A kind of rotation poke-rod type fruit shedding mechanism and sorted fruits device and control method |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN100427931C (en) * | 2006-04-10 | 2008-10-22 | 浙江大学 | Method and apparatus for detecting fruit surface defect based on laser image |
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2002
- 2002-12-27 CN CN 02160193 patent/CN1210112C/en not_active Expired - Fee Related
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN100337243C (en) * | 2003-12-31 | 2007-09-12 | 中国农业大学 | A fruit surface image collection system and method |
| CN100365411C (en) * | 2005-01-31 | 2008-01-30 | 浙江大学 | Detection method suited on surface of spherical fruit triggered to collect images based on need and equipment |
| CN101898191A (en) * | 2010-07-16 | 2010-12-01 | 浙江大学 | Weighting method and fruit weighting grading system adopting DSP (Digital Signal Processor) processing module and intelligent algorithm |
| CN101898191B (en) * | 2010-07-16 | 2012-09-19 | 浙江大学 | Weighting method and fruit weighting grading system adopting DSP (Digital Signal Processor) processing module and intelligent algorithm |
| CN102750547A (en) * | 2012-06-11 | 2012-10-24 | 陕西科技大学 | Fruit size grading method based on compressed sensing |
| CN102750547B (en) * | 2012-06-11 | 2014-07-23 | 陕西科技大学 | Fruit size grading method based on compressed sensing |
| CN103196835A (en) * | 2013-04-10 | 2013-07-10 | 浙江大学 | Target tracking device for internal quality detection process of agricultural products |
| CN108855977A (en) * | 2018-05-03 | 2018-11-23 | 江苏大学 | A kind of rotation poke-rod type fruit shedding mechanism and sorted fruits device and control method |
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| Publication number | Publication date |
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| CN1210112C (en) | 2005-07-13 |
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