CN1661361A - Detection method suited on surface of spherical fruit triggered to collect images based on need and equipment - Google Patents
Detection method suited on surface of spherical fruit triggered to collect images based on need and equipment Download PDFInfo
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- CN1661361A CN1661361A CN 200510049295 CN200510049295A CN1661361A CN 1661361 A CN1661361 A CN 1661361A CN 200510049295 CN200510049295 CN 200510049295 CN 200510049295 A CN200510049295 A CN 200510049295A CN 1661361 A CN1661361 A CN 1661361A
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Abstract
The present invention discloses a demand trigger image acquisition method and equipment suitable for detecting spherical fruit surface. Said equipment includes the following components: coder, chain wheel, chain conveying device, lighting box, trigger controller, camera, image acquisition card, computer and machine visual system formed from fruit rotating-speed controller, etc. Said invention also provides the concrete action and function of the above-mentioned every component, and the concrete steps of said demand trigger image acquisition method.
Description
Technical field
The present invention relates to a kind of image-pickup method of triggering as required and device that the spherical fruit surface is detected that be suitable for.
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.
In the fruit quality detection method based on machine vision, in order to detect the whole surface of fruit, the method that is adopted mainly contains:
The direct reflection method: adopt single camera, fruit is done translation during detection, other surface of fruit that utilizes specularly reflected to arrive for shot by camera;
Video camera method up and down: punch on objective table, respectively put a video camera in both sides up and down at objective table, fruit is done translation during detection, passes the visual field of two video cameras, and the image that two video cameras are made a video recording synthesizes, to obtain fruit all surfaces information;
The fruit rolling method: adopt single camera, fruit carries with roller, and in the testing process, fruit is done translation and rolling simultaneously, takes the multiple image of fruit in fixing position, synthesizes processing then.
These methods can not guarantee to obtain the full detail of fruit surface: in the direct reflection method with up and down in the video camera method, fruit must need certain support, thereby unavoidably understands some surface and be blocked, and causes can not get whole fruit surface information; And in the fruit rolling method, because the fruit diameter is not the same, at fixing station acquisition fruit image, this situation can occur: the angle that little fruit rolls between twice shooting is excessive, and some surface can repeatedly be taken, and may leak and clap some surfaces; And the angle too small that big fruit rolls between twice shooting, bat may be leaked in some surface.
Summary of the invention
Deficiency at the fruit rolling method, the object of the present invention is to provide a kind of image-pickup method of triggering as required and device that the spherical fruit surface is detected that be suitable for, according to the fruit diameter, adjust the method for right moment for camera automatically, guarantee that video camera photographs the fruit all surfaces.
The technical solution adopted for the present invention to solve the technical problems is:
One, be suitable for the image-pickup method of triggering as required that the spherical fruit surface is detected:
After fruit enters the visual field, trigger controller and produce trigger pip, trigger the image pick-up card images acquired, obtain the 1st width of cloth image of fruit, by its radius of COMPUTER CALCULATION, and the fruit radius is defeated by the triggering controller by the RS232 oral instructions, the triggering controller calculates fruit and turns over 90 degree required times, as the time interval of image acquisition, and as the timing length of timer, timer interrupt response program response timer interrupts, and produces trigger pip, trigger the image pick-up card images acquired, obtain all the other 3 width of cloth images of fruit.
Two, be suitable for the device that triggers image-pickup method as required that the spherical fruit surface is detected:
For realizing said method, the present invention includes scrambler, two sprocket wheels, chain conveyor, lighting box triggers controller, video camera, image pick-up card, the Vision Builder for Automated Inspection that computing machine and fruit rotational speed governor are formed.Between two sprocket wheels chain conveyor is housed, on the sprocket wheel scrambler is housed, under the last chain of chain conveyor the fruit rotational speed governor is housed, on the last chain of the chain conveyor corresponding lighting box is housed with the fruit rotational speed governor, video camera is housed in the lighting box, video camera links to each other with image pick-up card, triggers controller and links to each other with scrambler, image pick-up card and computing machine respectively.
Described chain conveyor: comprise chain, roller shaft, roller; Roller shaft passes chain and roller, on adorn tested fruit roller be distributed in the both sides of chain symmetrically.
Described triggering controller: comprise microprocessor U0, serial ports level translator U1, first capacitor C, 1, the second capacitor C, 2, the three capacitor C, 3, the four capacitor C, 4, the first resistance R, 1, the second resistance R 2, triode Q0; Microprocessor U0 is AT89C2051, and serial ports level translator U1 is MAX232, and triode Q0 is 9012; First capacitor C 1 is connected on the 1st pin and the 3rd pin of serial ports level translator U1, second capacitor C 2 is connected on the 4th pin and the 5th pin of serial ports level translator U1, the 3rd capacitor C 3 is connected on the 2nd pin and positive source of serial ports level translator U1, and the 4th capacitor C 4 is connected on the 6th pin and GND of serial ports level translator U1; The 11st pin of serial ports level translator U1 is connected on the 2nd pin of microprocessor U0, the 12nd pin of serial ports level translator U1 is connected on the 3rd pin of microprocessor U0, the 14th pin of serial ports level translator U1 connects the TXD end of computing machine 8 serial ports 1, and the 13rd pin of serial ports level translator U1 connects the RXD end of computing machine 8 serial ports 1; The 6th pin of microprocessor U0 is connected on the positive source by first resistance R 1 on the one hand, is connected the output terminal of scrambler 1 on the other hand, and the 19th pin of microprocessor U0 is connected on the base stage of triode Q0; The emitter of triode Q0 is connected on the positive source, and the collector of triode Q0 connects on the GND by second resistance R 2 on the one hand, is connected the triggering input end of image pick-up card 7 on the other hand.
Described fruit rotational speed governor: comprise buncher, driving chain, sprocket wheel, first running roller, second running roller, canvas travelling belt; Buncher is connected with sprocket wheel by driving chain, and sprocket wheel is installed on first running roller, and first running roller is connected by the canvas travelling belt with second running roller.
Described scrambler is installed on the sprocket wheel, and the synchronizing pulse of its output is connected the 6th pin that triggers controller microprocessor U0; Chain conveyor by chain ring on sprocket wheel; Lighting box is installed in the top of chain conveyor; Video camera is installed in the lighting box inner and upper, and the output signal of video camera is input to the image input end of image pick-up card by cable; Image pick-up card is installed in the slot of computing machine, and it triggers the sampled signal input end and is connected on the collector of the triode Q0 that triggers controller by cable; The 14th pin that triggers controller serial ports level translator U1 connects the TXD end of serial ports of computers 1, and the 13rd pin of serial ports level translator U1 connects the RXD end of serial ports of computers 1, and the collector of its triode Q0 is connected the trigger pip input end of image pick-up card; The fruit rotational speed governor is installed in the ring that is formed by chain conveyor, is positioned at the lighting box below; Below lighting box, roller is pressed on the canvas travelling belt; Fruit image is installed on the computing machine is detected software.
The useful effect that the present invention has is: the present invention adjusts image acquisition constantly automatically according to the diameter of fruit, guarantees the detection on the whole surface of fruit.
Description of drawings
Fig. 1 is a structural principle synoptic diagram of the present invention;
Fig. 2 triggers the controller circuitry schematic diagram;
Fig. 3 triggers the control timing synoptic diagram;
Fig. 4 is a fruit rotational speed governor synoptic diagram;
Fig. 5 is the A place partial enlarged drawing of Fig. 1;
Fig. 6 is that the B of Fig. 1 is to view;
Fig. 7 is a fruit position view in the visual field;
Fig. 8 is roller structure and structure drawing of device.
Among the figure: 1, scrambler, 2, sprocket wheel, 3, chain conveyor, 3.1, chain, 3.2, roller shaft, 3.3, roller, 4, lighting box, 5, trigger controller, 6, video camera, 7, image pick-up card, 8, computing machine, 9, fruit rotational speed governor, 9.1, buncher, 9.2, driving chain, 9.3, sprocket wheel, 9.4, first running roller, 9.5, the canvas travelling belt, 9.6, second running roller, 10, tested fruit, 11, the visual field.
Embodiment
As shown in Figure 1, Vision Builder for Automated Inspection of the present invention is by scrambler 1, sprocket wheel 2, and chain conveyor 3, lighting box 4 triggers controller 5, video camera 6, image pick-up card 7, the Vision Builder for Automated Inspection that computing machine 8 and fruit rotational speed governor 9 are formed.Two 2 on sprocket wheels are equipped with chain conveyor 3, on the sprocket wheel 2 scrambler 1 is housed, the last chain of chain conveyor 3 is equipped with fruit rotational speed governor 9 3.1 times, the people is equipped with lighting box 4 on the last chain 3.1 of the chain conveyor 3 corresponding with fruit rotational speed governor 9, video camera 6 is housed in the lighting box 4, video camera 6 links to each other with image pick-up card 7, triggers controller 5 and links to each other with scrambler 1, image pick-up card 7 and computing machine 8 respectively.
As shown in Figure 5 and Figure 6, chain conveyor 3 is by chain 3.1, roller shaft 3.2, and roller 3.3 is formed; Roller shaft 3.2 passes chain 3.1 and roller 3.3, and roller 3.3 is distributed in the both sides of chain 3.1 symmetrically.
As shown in Figure 2, trigger controller 5 by microprocessor U0, serial ports level translator U1, first capacitor C, 1, the second capacitor C, 2, the three capacitor C, 3, the four capacitor C, 4, the first resistance R, 1, the second resistance R 2, compositions such as triode Q0; Microprocessor U0 is AT89C2051, and serial ports level translator U1 is MAX232, and triode Q0 is 9012; First capacitor C 1 is connected on the 1st pin and the 3rd pin of serial ports level translator U1, second capacitor C 2 is connected on the 4th pin and the 5th pin of serial ports level translator U1, the 3rd capacitor C 3 is connected on the 2nd pin and positive source of serial ports level translator U1, and the 4th capacitor C 4 is connected on the 6th pin and GND of serial ports level translator U1; The 11st pin of serial ports level translator U1 is connected on the 2nd pin of microprocessor U0, the 12nd pin of serial ports level translator U1 is connected on the 3rd pin of microprocessor U0, the 14th pin of serial ports level translator U1 connects the TXD end of computing machine 8 serial ports 1, and the 13rd pin of serial ports level translator U1 connects the RXD end of computing machine 8 serial ports 1; The 6th pin of microprocessor U0 is connected on the positive source by first resistance R 1 on the one hand, is connected the output terminal of scrambler 1 on the other hand, and the 19th pin of microprocessor U0 is connected on the base stage of triode Q0; The emitter of triode Q0 is connected on the positive source, and the collector of triode Q0 connects on the GND by second resistance R 2 on the one hand, is connected the triggering input end of image pick-up card 7 on the other hand.
As shown in Figure 4, fruit rotational speed governor 9 is by buncher 9.1, driving chain 9.2, and sprocket wheel 9.3, the first running rollers 9.4, the second running rollers 9.6, canvas travelling belt 9.5 is formed; Buncher 9.1 is connected with sprocket wheel 9.3 by driving chain 9.2, and sprocket wheel 9.3 is installed on first running roller 9.4, and first running roller 9.4 is connected by canvas travelling belt 9.5 with second running roller 9.6.
As shown in Figure 1 and Figure 2, scrambler 1 is installed on the sprocket wheel 2, and the synchronizing pulse of its output is connected the 6th pin that triggers controller 5 microprocessor U0; Chain conveyor 3 is looped around on the sprocket wheel 2 by chain 3.1; Lighting box 4 is installed in the top of chain conveyor 3; Video camera 6 is installed in the lighting box inner and upper, and the output signal of video camera 6 is input to the image input end of image pick-up card 7 by cable; Image pick-up card 7 is installed in the slot of computing machine 8, and it triggers the sampled signal input end and is connected on the collector of the triode Q0 that triggers controller 5 by cable; The 14th pin that triggers controller 5 serial ports level translator U1 connects the TXD end of computing machine 8 serial ports 1, the 13rd pin of serial ports level translator U1 connects the RXD end of computing machine 8 serial ports 1, and the collector of its triode Q0 is connected the trigger pip input end of image pick-up card 7; Fruit rotational speed governor 9 is installed in the ring that is formed by chain conveyor 3, is positioned at lighting box 4 belows; Below lighting box 4, roller 3.3 is pressed on the canvas travelling belt 9.5; Fruit image is installed on the computing machine 8 is detected software.
Tested fruit 10 is loaded in the space that is formed by 4 adjacent rollers.
During work, externally engine drives down, the rotation of sprocket wheel 2 clockwise direction, drive chain conveyor 3 and make clockwise around the movement, on the other hand, scrambler 1 also rotates with sprocket wheel 2, and produces pulse signal (as shown in Figure 3) according to certain rules: the corresponding tested fruit 10 of the negative edge of each pulse FV0 position (as shown in Figure 7) in the visual field; Tested fruit 10 carries out lighting box with chain conveyor 3 from the left side;
Handle (as Fig. 7, shown in Figure 8) by following flow process then:
1. when tested fruit 10 arrives the 1st image capture position (FV0 place) of visual field 11, the pulse signal that scrambler 1 produces produces and interrupts, and microprocessor U0 responds interruption, produces trigger pip, trigger image pick-up card 7 and gather the 1st width of cloth image of this fruit, and startup timer 1 picks up counting;
2. computing machine 8 is handled this image after receiving the image that image pick-up card 7 is gathered, and calculates the radius R of this fruit
F, with the fruit radius R
F Pass triggering controller 5 by the RS232 oral instructions, produce serial communication and interrupt;
3. trigger controller 5 response serial communications and interrupt, read clocking value from timer 1 earlier, as the 1st width of cloth image acquisition and the used time T C1 of calculating fruit radius;
4. calculating this fruit by formula (1) revolves and turn 90 degrees required time T
F, after deducting the 1st width of cloth image acquisition and calculating the used time T C1 of fruit radius, be that the timer 1 that timing length starts microprocessor U0 carries out timing with duration TC2;
5. after timer 1 is finished regularly, produce and interrupt, microprocessor U0 interrupt response program produces trigger pip once more, triggers the following piece image that image pick-up card 7 is gathered this fruit;
6. judge whether 4 width of cloth images of current fruit are finished,, wait for that then 1. the pulse signal that scrambler 1 produces produces interruption, repeat if finish; Otherwise microprocessor U0 is with duration T
FCarry out timing for timing length starts timer 1 once more, repeat 5.;
Following formula is used for calculating fruit and revolves and turn 90 degrees required time T
F:
In the formula:
T
F-fruit the triggered time at interval
The velocity of rotation of-fruit
Determine by formula (2):
In the formula:
The radius of turn of-fruit and place, roller point of contact roller
Determine by formula (3):
In the formula:
V
2The horizontal velocity of-canvas travelling belt 9.5 and roller contact segment
V
1The horizontal velocity of-chain 3.1
R
R1-roller 3.3 big footpaths
Determine by formula (4):
In the formula:
R
FThe radius of-fruit is detected after the 1st width of cloth image acquisition by computing machine and to obtain
α-roller 3.3 inclination angles
In the formula:
Half of the inboard gap length of two rollers of b-
α is determined by formula (6):
In the formula:
R
R2-roller 3.3 paths
The width of B-roller 3.3
Claims (6)
1. one kind is suitable for the image-pickup method of triggering as required that the spherical fruit surface is detected, it is characterized in that: after fruit enters the visual field, trigger controller and produce trigger pip, trigger the image pick-up card images acquired, obtain the 1st width of cloth image of fruit, by its radius of COMPUTER CALCULATION, and the fruit radius is defeated by the triggering controller by the RS232 oral instructions, trigger controller and calculate fruit and turn over 90 degree required times, as the time interval of image acquisition, and as the timing length of timer, timer interrupt response program response timer interrupts, produce trigger pip, trigger the image pick-up card images acquired, obtain all the other 3 width of cloth images of fruit.
2. be used for the said device that triggers image-pickup method as required that is suitable for the detection of spherical fruit surface of claim 1, it is characterized in that: Vision Builder for Automated Inspection comprises scrambler (1), two sprocket wheels (2), chain conveyor (3), lighting box (4) triggers controller (5), video camera (6), image pick-up card (7), the Vision Builder for Automated Inspection that computing machine (8) and fruit rotational speed governor (9) are formed; Chain conveyor (3) is housed between two sprocket wheels (2), scrambler (1) is housed on the sprocket wheel (2), under the last chain (3.1) of chain conveyor (3) fruit rotational speed governor (9) is housed, on the last chain (3.1) of the chain conveyor (3) corresponding lighting box (4) is housed with fruit rotational speed governor (9), video camera (6) is housed in the lighting box (4), video camera (6) links to each other with image pick-up card (7), triggers controller (5) and links to each other with scrambler (1), image pick-up card (7) and computing machine (8) respectively.
3. a kind of image-pickup method of triggering as required and device that the spherical fruit surface is detected that be suitable for according to claim 2 is characterized in that described chain conveyor (3): comprise chain (3.1), roller shaft (3.2), roller (3.3); Roller shaft (3.2) passes chain (3.1) and roller (3.3), on adorn tested fruit (10) roller (3.3) be distributed in the both sides of chain (3.1) symmetrically.
4. a kind of image-pickup method of triggering as required and device that the spherical fruit surface is detected that be suitable for according to claim 2, it is characterized in that described triggering controller (5): comprise microprocessor U0, serial ports level translator U1, first capacitor C, 1, the second capacitor C, 2, the three capacitor C 3, the 4th capacitor C 4, first resistance R, 1, the second resistance R 2, triode Q0; Microprocessor U0 is AT89C2051, and serial ports level translator U1 is MAX232, and triode Q0 is 9012; First capacitor C 1 is connected on the 1st pin and the 3rd pin of serial ports level translator U1, second capacitor C 2 is connected on the 4th pin and the 5th pin of serial ports level translator U1, the 3rd capacitor C 3 is connected on the 2nd pin and positive source of serial ports level translator U1, and the 4th capacitor C 4 is connected on the 6th pin and GND of serial ports level translator U1; The 11st pin of serial ports level translator U1 is connected on the 2nd pin of microprocessor U0, the 12nd pin of serial ports level translator U1 is connected on the 3rd pin of microprocessor U0, the 14th pin of serial ports level translator U1 connects the TXD end of computing machine 8 serial ports 1, and the 13rd pin of serial ports level translator U1 connects the RXD end of computing machine 8 serial ports 1; The 6th pin of microprocessor U0 is connected on the positive source by first resistance R 1 on the one hand, is connected the output terminal of scrambler 1 on the other hand, and the 19th pin of microprocessor U0 is connected on the base stage of triode Q0; The emitter of triode Q0 is connected on the positive source, and the collector of triode Q0 connects on the GND by second resistance R 2 on the one hand, is connected the triggering input end of image pick-up card 7 on the other hand.
5. a kind of image-pickup method of triggering as required and device that the spherical fruit surface is detected that be suitable for according to claim 2, it is characterized in that described fruit rotational speed governor (9): comprise buncher (9.1), driving chain (9.2), sprocket wheel (9.3), first running roller (9.4), second running roller (9.6), canvas travelling belt (9.5); Buncher (9.1) is connected with sprocket wheel (9.3) by driving chain (9.2), and sprocket wheel (9.3) is installed on first running roller (9.4), and first running roller (9.4) is connected by canvas travelling belt (9.5) with second running roller (9.6).
6. a kind of image-pickup method of triggering as required and device that the spherical fruit surface is detected that be suitable for according to claim 2, it is characterized in that described scrambler (1) is installed on the sprocket wheel (2), the synchronizing pulse of its output is connected the 6th pin that triggers controller (5) microprocessor U0; Chain conveyor (3) is looped around on the sprocket wheel (2) by chain (3.1); Lighting box (4) is installed in the top of chain conveyor (3); Video camera (6) is installed in the lighting box inner and upper, and the output signal of video camera (6) is input to the image input end of image pick-up card (7) by cable; Image pick-up card (7) is installed in the slot of computing machine (8), and it triggers the sampled signal input end and is connected on the collector of the triode Q0 that triggers controller (5) by cable; The 14th pin that triggers controller (5) serial ports level translator U1 connects the TXD end of computing machine (8) serial ports 1, the 13rd pin of serial ports level translator U1 connects the RXD end of computing machine (8) serial ports 1, and the collector of its triode Q0 is connected the trigger pip input end of image pick-up card (7); Fruit rotational speed governor (9) is installed in the ring that is formed by chain conveyor (3), is positioned at lighting box (4) below; In lighting box (4) below, roller (3.3) is pressed on the canvas travelling belt (9.5); Computing machine (8) is gone up fruit image detection software is installed.
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN102809551A (en) * | 2011-06-01 | 2012-12-05 | 陈亮嘉 | Stroboscopic optical image mapping system |
| CN103364413A (en) * | 2012-04-10 | 2013-10-23 | 北京兆维电子(集团)有限责任公司 | Identifier detection and product grading control system and method |
| CN103406286A (en) * | 2013-08-16 | 2013-11-27 | 常熟理工学院 | Online grading method for external quality of fruit based on LabVIEW |
| CN103411979A (en) * | 2013-09-03 | 2013-11-27 | 青岛艾孚科技有限公司 | Automatic detection device for electric meter certificate |
| CN105214963A (en) * | 2015-10-28 | 2016-01-06 | 苏州听毅华自动化设备有限公司 | A kind of automatic discharge unit for ball sorting |
| CN105572139A (en) * | 2015-12-07 | 2016-05-11 | 沈阳工业大学 | Method and system for detecting cup plug machining errors on basis of binocular vision |
| CN108704867A (en) * | 2018-07-11 | 2018-10-26 | 四川农业大学 | A kind of fruit sorter |
| CN113125459A (en) * | 2021-04-16 | 2021-07-16 | 合肥泰禾智能科技集团股份有限公司 | Improve reflector structure of fruit surface detection camera uniformity of picking up picture |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4726898A (en) * | 1982-09-30 | 1988-02-23 | Pennwalt Corporation | Apparatus for spinning fruit for sorting thereof |
| US5164795A (en) * | 1990-03-23 | 1992-11-17 | Sunkist Growers, Inc. | Method and apparatus for grading fruit |
| US5533628A (en) * | 1992-03-06 | 1996-07-09 | Agri Tech Incorporated | Method and apparatus for sorting objects by color including stable color transformation |
| JP2003028807A (en) * | 2001-07-16 | 2003-01-29 | Ishii Ind Co Ltd | Apparatus for handling object to be measured |
| CN1210112C (en) * | 2002-12-27 | 2005-07-13 | 浙江大学 | Mechanical vision fruit classifying system controlled by shift register |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN102809551B (en) * | 2011-06-01 | 2015-06-24 | 陈亮嘉 | Stroboscopic optical image mapping system |
| CN102809551A (en) * | 2011-06-01 | 2012-12-05 | 陈亮嘉 | Stroboscopic optical image mapping system |
| CN103364413A (en) * | 2012-04-10 | 2013-10-23 | 北京兆维电子(集团)有限责任公司 | Identifier detection and product grading control system and method |
| CN103406286A (en) * | 2013-08-16 | 2013-11-27 | 常熟理工学院 | Online grading method for external quality of fruit based on LabVIEW |
| CN103406286B (en) * | 2013-08-16 | 2015-06-24 | 常熟理工学院 | Online grading method for external quality of fruit based on LabVIEW |
| CN103411979B (en) * | 2013-09-03 | 2015-09-30 | 青岛元启工业智能技术有限公司 | A kind of Automatic detection device for electric meter certificate |
| CN103411979A (en) * | 2013-09-03 | 2013-11-27 | 青岛艾孚科技有限公司 | Automatic detection device for electric meter certificate |
| CN105214963A (en) * | 2015-10-28 | 2016-01-06 | 苏州听毅华自动化设备有限公司 | A kind of automatic discharge unit for ball sorting |
| CN105572139A (en) * | 2015-12-07 | 2016-05-11 | 沈阳工业大学 | Method and system for detecting cup plug machining errors on basis of binocular vision |
| CN105572139B (en) * | 2015-12-07 | 2018-02-02 | 沈阳工业大学 | Bowl Plug mismachining tolerance detecting system and detection method based on binocular vision |
| CN108704867A (en) * | 2018-07-11 | 2018-10-26 | 四川农业大学 | A kind of fruit sorter |
| CN108704867B (en) * | 2018-07-11 | 2023-12-12 | 四川农业大学 | Fruit grading plant |
| CN113125459A (en) * | 2021-04-16 | 2021-07-16 | 合肥泰禾智能科技集团股份有限公司 | Improve reflector structure of fruit surface detection camera uniformity of picking up picture |
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| CN100365411C (en) | 2008-01-30 |
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