CN202207664U - Spherical fruit automatic grader with pneumatic device - Google Patents
Spherical fruit automatic grader with pneumatic device Download PDFInfo
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- CN202207664U CN202207664U CN2011202220188U CN201120222018U CN202207664U CN 202207664 U CN202207664 U CN 202207664U CN 2011202220188 U CN2011202220188 U CN 2011202220188U CN 201120222018 U CN201120222018 U CN 201120222018U CN 202207664 U CN202207664 U CN 202207664U
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Abstract
The utility model discloses a spherical fruit automatic grader with a pneumatic device. The spherical fruit automatic grader comprises an air compressor, a main motor, a grading air cylinder, two light source boxes, two cameras, a fruit tray, a transmission gear, two parallel chains, a synchronous chain wheel, a guide slot, a fruit collection box, a frame, an electromagnetic valve and an electric control system; in rotating, the main motor drives fruits to move at a uniform speed on the grader; the light source boxes, the grading air cylinder and the guide slot are mounted above the grader in sequence; the tail end of the guide slot is connected with the fruit collection box; a remote controller gives out a control signal received by an infrared remote-control receiving circuit and transmitted to an FPGA (Field Programmable Gate Array) system; fruit grading software in the FPGA system processes fruit information and obtains the grading result, the electromagnetic valve is controlled to drive the grading air cylinder to grade by a pneumatic control circuit, and the grading result and the grading process are displayed on a VGA (Video Graphics Array) display. The fruit grading software can be provided with grading modes and grading parameters, meets the grading requirements of different kinds of spherical fruits, and also meets the requirements of different grading standards of the same kind of fruits.
Description
Technical field
The utility model relates to a kind of fruit grader, particularly a kind of spherical fruit automatic grader with pneumatic means.
Background technology
The commercialization in postpartum of fresh fruit is handled and is comprised cleaning, waxing, classification, packing, and wherein classification is the important step that the fruit commercialization is handled.Peasant household that fruits output is bigger or fruit production base have occurred adopting the automatic grading of fruits machine to replace artificial hierarchical approaches of carrying out fruit grading.Disclosed at present spherical fruit automatic grader; Be divided into mechanical type and based on two kinds of machine vision formulas; The former mainly adopts consent and drum-type; This method can only be carried out classification to size, the weight of fruit, for the surface color of fruit, blemish etc. then can not differentiate and fruit damage rate higher relatively; The latter is mainly based on machine vision technique; Adopt cooperation fruit such as CCD camera, data collecting card, A/D converter, computer to carry streamline to carry out progressive operation; In order to arrive the image on the full surface of fruit with camera collection; Fruit carries streamline that the fruit switching mechanism generally is installed, otherwise can only get access to fruit single side surface area, and the ratio that the area that obtains accounts for gross area is less than 50%.Though this method can realize size, surface color, the blemish according to fruit and carry out classification, the grader complicated integral structure, volume is big, and cost is high, also is not suitable for large tracts of land popularization between all fruit peasant households and fruit production base at present.
Summary of the invention
The utility model has overcome deficiency of the prior art; A kind of spherical fruit quick nondestructive grader that has pneumatic means is provided, and it can carry out classification according to size, surface color, the blemish of spherical fruit, and complete machine structure is simple; Volume is little; Low in energy consumption, low cost of manufacture is easy to large tracts of land and promotes.
The technical scheme that the utility model adopts is: comprise air compressor machine, main motor, classification cylinder, two light-source box, dual camera, fruit pallet, travelling gear, parallel double-stranded bar, synchronous sprocket wheel, guide groove, fruit collecting box, frame, magnetic valve, electric-control system.1) main motor is through the gears engaged on travelling gear and the synchronous sprocket wheel; 2) parallel double-stranded bar is equipped with the fruit pallet above on two pairs of synchronous sprocket wheel, and two pairs of synchronous sprocket wheel are installed on the frame, and synchronous sprocket wheel can rotate around the axis, and drives the fruit that is placed on the pallet when main motor rotates and on grader, travels at the uniform speed; 3) the fruit pallet of low order end is a feeding port on the parallel double-stranded bar, after two light-source box walk abreast and are installed in feeding port, and continuous two fruit pallets top; 4) the classification cylinder is installed in the rear of the fruit pallet of the two light-source box of next-door neighbour, corresponding pallet front and with it fit flush guide groove is arranged, guide groove is terminal to link with fruit collecting box, the quantity of classification cylinder, guide groove and fruit collecting box need hierarchical level equate with fruit; 5) dual camera is installed in respectively in two light-source box, a side of each light-source box casing, and the installation direction of dual camera is relative, and the camera lens of camera is inner at light-source box, and the connection jaws of camera links to each other with electric-control system at the outside electric wire that passes through of light-source box; 6) side of two light-source box is equipped with two relative streamline position detecting circuits, and two streamline position detecting circuits link to each other with the FPGA system through electric wire; 7) air compressor machine is connected with magnetic valve through tracheae, and magnetic valve links to each other with the classification cylinder through tracheae respectively, and magnetic valve is connected with electric-control system through cable and magnetic valve is assemblied in the frame side, and magnetic valve quantity is identical with number of cylinders; 8) number of classification cylinder, magnetic valve, fruit pallet, guide groove, fruit collecting box equals the progression that actual spherical fruit needs classification, and the length of parallel double-stranded bar and frame is regulated according to the progression of actual spherical fruit needs classification; 9) the VGA display is connected through cable with electric-control system; 10) electric-control system and VGA display are fixed on the frame; 11) electric-control system comprises the FPGA system, streamline position detecting circuit, pneumatic control circuit, warning circuit, VGA display, remote controller, infrared remote control receiving circuit, fruit grading software; 12) streamline position detecting circuit, pneumatic control circuit, warning circuit, VGA display, infrared remote control receiving circuit are connected with the FPGA system electrical; 13) remote controller sends control signal and receives through the infrared remote control receiving circuit and pass to the FPGA system, and the intrasystem fruit grading software processes of FPGA fruit information draws classification results and drives the classification cylinder through the pneumatic control circuit controling electromagnetic valve and carries out classification.
When classification was prepared, fruit grading software can be provided with hierarchical pattern and value parameter, sent control command to infrared remote control receiving circuit through remote controller, and the infrared remote control receiving circuit is sent to the FPGA system with control command and carries out the setting of hierarchical pattern and parameter; The fruit grading software that is installed on the FPGA can be provided with three kinds of independent patterns and two kinds of aggregative models; Three kinds of independent patterns are divided into big small mode, surface color pattern, defects detection pattern; Two kinds of aggregative models are divided into big or small preferential and comprehensive pattern, surface color preferential and comprehensive pattern; In parameter is provided with, the fruit surface color parameter of different stage magnitude range parameter and different stage can be set.Be applicable to different types of spherical fruit, like the classification requirement of apple, pears, navel orange, oranges and tangerines etc., also applicable to the different classification requirements of fruit of the same race.
During classification work, main motor rotates through the gears engaged on travelling gear and the sprocket wheel, and power is sent to parallel double-stranded bar, and parallel double-stranded bar rotates around two pairs of synchronous sprocket wheel, drives the fruit pallet that is installed on the parallel double-stranded bar and on frame, travels at the uniform speed.Spherical fruit is put on the fruit pallet from feeding port, and the fruit pallet drives spherical fruit through two light-source box, and the streamline position detecting circuit in two light boxs detects the information that puts in place of spherical fruit, triggers the image of camera collection spherical fruit.Because dual camera is installed in the relative position of two light-source box; Can collect the image of two opposite flanks of spherical fruit; Make the collected area of fruit surface account for more than 90% of the gross area, improved the judgement precision of later stage with fruit grading software judgement fruit surface color and blemish.Two width of cloth fruit images that collect are sent in the FPGA system; Fruit grading software in the FPGA system is handled two width of cloth images; Draw graded signal according to the size of spherical fruit, surface color, blemish, spherical fruit shape etc.; And control solenoid-driven classification cylinder pushes guide groove with fruit, and fruit rolls into collecting box from guide groove, accomplishes automatic classification action.
The beneficial effect of the utility model is: the differentiation of the size of employing FPGA system realization spherical fruit, surface color, blemish, spherical fruit shape etc.; Be applicable to different types of spherical fruit; Classification requirement like apple, pears, navel orange, oranges and tangerines etc.; Also applicable to the different grade scale requirements of fruit of the same race, grading function is strong, and applicability is wide.The FPGA system controls the classification action of camera collection image and pneumatic equipment simultaneously, and is controlled at demonstration classification results and classification process on the VGA display, and all control work are all accomplished by the FPGA system; Hierarchical speed is fast, and is simple in structure, low in energy consumption; Easy to use; Cost is low, can replace manual work to be applicable to the fruit grading operation of large, medium and small type peasant household and fruit production base effectively, is convenient to carry out large tracts of land and promotes.
Description of drawings
Fig. 1 is the general construction forward sketch map of the utility model.
Fig. 2 is the reverse sketch map of the general construction of the utility model.
Fig. 3 is the general construction schematic top plan view of the utility model.
Fig. 4 is the electric-control system block diagram.
Fig. 5 is fruit grading software workflow figure.
Below in conjunction with Fig. 1, Fig. 2, Fig. 3, Fig. 4, Fig. 5 the utility model is specified.
1 air compressor machine among the figure, 2 fruit pallets, 3 synchronous sprocket wheel, 4 parallel double-stranded bars, 5 classification cylinders, 6 guide grooves; 7 pairs of light-source box, 8VGA display, 9 frames, 10 fruit collecting box, 11 main motors; 12 travelling gears, 13 dual cameras, 14 magnetic valves, 15 electric-control systems, 16 streamline position detecting circuits; 17 infrared remote control receiving circuits, 18 remote controllers, 19 pneumatic control circuit, 20 warning circuits, 21FPGA system.
The specific embodiment
Like Fig. 1, shown in Figure 2, the utility model comprises air compressor machine 1, main motor 11, classification cylinder 5, two light-source box 7; Dual camera 13, fruit pallet 2, travelling gear 12, parallel double-stranded bar 4, synchronous sprocket wheel 3; Guide groove 6, fruit collecting box 10, frame 9, magnetic valve 14, electric-control system 15; Main motor 11 is through the gears engaged on travelling gear 12 and the synchronous sprocket wheel 3; Parallel double-stranded bar 4 is equipped with 2, two pairs of synchronous sprocket wheel 3 of fruit pallet above and is installed on the frame 9 on two pairs of synchronous sprocket wheel 3, and synchronous sprocket wheel 3 can rotate around the axis, and main motor 11 drives the fruit that is placed on the pallet when rotating and on grader, travels at the uniform speed; The fruit pallet 2 of low order end is a feeding port on the parallel double-stranded bar 4, two light-source box 7 parallel third and fourth fruit pallet 2 top of feeding port order that are installed in; Classification cylinder 5 is installed in respectively after two 7 second the fruit pallets 2 of light-source box of next-door neighbour, the rear of four fruit pallets 2 of order, corresponding pallet front and with it fit flush four guide grooves 6 are arranged, guide groove 6 is terminal to link with fruit collecting box 10.
As shown in Figure 3; Dual camera 13 is installed in a side of each light-source box in two light-source box 7 respectively; The installation direction of dual camera 13 is relative, and the camera lens of camera is inner at light-source box, and the connection jaws of camera links to each other with electric-control system 15 at the outside electric wire that passes through of light-source box; The side of two light-source box 7 is equipped with 16, two streamline position detecting circuits of two streamline position detecting circuits 16 and links to each other with FPGA system 21 through electric wire; Air compressor machine 1 is connected with magnetic valve 14 through tracheae, and four magnetic valves 14 link to each other with four classification cylinders 5 through tracheae respectively, and magnetic valve 14 is connected with electric-control system 15 through cable and magnetic valve 14 is assemblied in frame 9 sides; VGA display 8 and electric-control system 15 are connected through cable; Electric-control system 15 is fixed on the frame with VGA display 8.
As shown in Figure 4, electric-control system 15 comprises FPGA system 21, streamline position detecting circuit 16, pneumatic control circuit 19, warning circuit 20, VGA display 8, remote controller 18, infrared remote control receiving circuit 17, fruit grading software; Streamline position detecting circuit 16, pneumatic control circuit 19, warning circuit 20, VGA display 8, infrared remote control receiving circuit 17 are electrically connected with FPGA system 21; Remote controller 18 sends control signal and receives and pass to FPGA system 21 through infrared remote control receiving circuit 17; Fruit grading software processes fruit information in the FPGA system 21 draws classification results and drives classification cylinder 5 through pneumatic control circuit 19 control magnetic valves 14 and carries out classification.
As shown in Figure 5, fruit grading software can be provided with hierarchical pattern and value parameter, sends control command to infrared remote control receiving circuit through remote controller, and the infrared remote control receiving circuit is sent to the FPGA system with control command and carries out the setting of hierarchical pattern and parameter; The fruit grading software that is installed on the FPGA can be provided with three kinds of independent patterns and two kinds of aggregative models; Three kinds of independent patterns are divided into big small mode, surface color pattern, defects detection pattern; Two kinds of aggregative models are divided into big or small preferential and comprehensive pattern, surface color preferential and comprehensive pattern; In parameter is provided with, the fruit surface color parameter of different stage magnitude range parameter and different stage can be set.
Claims (2)
1. spherical fruit automatic grader with pneumatic means, it is characterized in that: it comprises air compressor machine, main motor, classification cylinder, two light-source box; Dual camera, fruit pallet, travelling gear, parallel double-stranded bar, synchronous sprocket wheel; Guide groove, fruit collecting box, frame, magnetic valve, electric-control system; Wherein,
1) main motor is through the gears engaged on travelling gear and the synchronous sprocket wheel;
The fruit that drives on the pallet when 2) main motor rotates travels at the uniform speed on grader;
3) on the parallel double-stranded bar the rightest fruit pallet be feeding port, two light-source box are parallel be installed in feeding port after, continuous two fruit pallets top;
4) the classification cylinder is installed in the rear of the fruit pallet of the two light-source box of next-door neighbour, corresponding pallet front and with it fit flush guide groove is arranged, guide groove is terminal to link with fruit collecting box, the quantity of classification cylinder, guide groove and fruit collecting box need hierarchical level equate with fruit;
5) dual camera is installed in respectively in two light-source box, a side of each light-source box casing, and the installation direction of dual camera is relative, and the camera lens of camera is inner at light-source box, and the connection jaws of camera links to each other with electric-control system at the outside electric wire that passes through of light-source box;
6) side of two light-source box is equipped with two relative streamline position detecting circuits, and two streamline position detecting circuits link to each other with the FPGA system through electric wire;
7) air compressor machine is connected with magnetic valve through tracheae, and magnetic valve links to each other with the classification cylinder through tracheae respectively, and magnetic valve is connected with electric-control system through cable and magnetic valve is assemblied in the frame side, and magnetic valve quantity is identical with number of cylinders;
8) the VGA display is connected through cable with electric-control system;
9) electric-control system and VGA display are fixed on the frame.
2. a kind of spherical fruit automatic grader according to claim 1 with pneumatic means, it is characterized in that: said electric-control system comprises the FPGA system, the streamline position detecting circuit; The pneumatic control circuit; Warning circuit, VGA display, remote controller; The infrared remote control receiving circuit, fruit grading software; Streamline position detecting circuit, pneumatic control circuit, warning circuit, VGA display, infrared remote control receiving circuit are connected with the FPGA system electrical.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011202220188U CN202207664U (en) | 2011-06-28 | 2011-06-28 | Spherical fruit automatic grader with pneumatic device |
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| Application Number | Priority Date | Filing Date | Title |
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| CN2011202220188U CN202207664U (en) | 2011-06-28 | 2011-06-28 | Spherical fruit automatic grader with pneumatic device |
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| CN202207664U true CN202207664U (en) | 2012-05-02 |
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| CN2011202220188U Expired - Fee Related CN202207664U (en) | 2011-06-28 | 2011-06-28 | Spherical fruit automatic grader with pneumatic device |
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Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102847684A (en) * | 2011-06-28 | 2013-01-02 | 华中农业大学 | Spherical fruit automatic grader having pneumatic device |
| CN102921646A (en) * | 2012-11-21 | 2013-02-13 | 孙中国 | Automatic screening device for jujubes with different colors |
| CN105327864A (en) * | 2015-12-01 | 2016-02-17 | 滁州市天达汽车部件有限公司 | Automatic storing device |
| CN104438140B (en) * | 2014-11-03 | 2017-01-11 | 张澎年 | Multi-parameter workpiece sorting machine capable of moving workpieces by push rods |
| CN108380522A (en) * | 2018-02-26 | 2018-08-10 | 江南大学 | A kind of self-grading device based on computer vision |
| CN108405365A (en) * | 2018-02-26 | 2018-08-17 | 江南大学 | A kind of interval driven type apple exterior quality self-grading device |
| CN108480225A (en) * | 2018-03-14 | 2018-09-04 | 孟晓涛 | A kind of fruit sorter |
| CN109928127A (en) * | 2019-03-25 | 2019-06-25 | 黄淮学院 | A kind of books classifying method and device |
| CN110125044A (en) * | 2019-05-27 | 2019-08-16 | 山东工商学院 | A kind of apple sorting equipment based on binocular vision |
| CN111069065A (en) * | 2019-12-27 | 2020-04-28 | 华南农业大学 | Spherical fruit automatic grading machine based on vision |
| CN111438070A (en) * | 2020-04-16 | 2020-07-24 | 扬州大学 | Fruit grain size classification equipment |
| CN111842178A (en) * | 2020-06-18 | 2020-10-30 | 苏州小优智能科技有限公司 | Assembly line shoe blank 3D scanning and intelligent sorting equipment and method |
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2011
- 2011-06-28 CN CN2011202220188U patent/CN202207664U/en not_active Expired - Fee Related
Cited By (17)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102847684A (en) * | 2011-06-28 | 2013-01-02 | 华中农业大学 | Spherical fruit automatic grader having pneumatic device |
| CN102921646A (en) * | 2012-11-21 | 2013-02-13 | 孙中国 | Automatic screening device for jujubes with different colors |
| CN104438140B (en) * | 2014-11-03 | 2017-01-11 | 张澎年 | Multi-parameter workpiece sorting machine capable of moving workpieces by push rods |
| CN105327864A (en) * | 2015-12-01 | 2016-02-17 | 滁州市天达汽车部件有限公司 | Automatic storing device |
| CN105327864B (en) * | 2015-12-01 | 2018-01-23 | 滁州市天达汽车部件有限公司 | A kind of automatic sorting device |
| CN108380522A (en) * | 2018-02-26 | 2018-08-10 | 江南大学 | A kind of self-grading device based on computer vision |
| CN108405365A (en) * | 2018-02-26 | 2018-08-17 | 江南大学 | A kind of interval driven type apple exterior quality self-grading device |
| CN108480225A (en) * | 2018-03-14 | 2018-09-04 | 孟晓涛 | A kind of fruit sorter |
| CN109928127A (en) * | 2019-03-25 | 2019-06-25 | 黄淮学院 | A kind of books classifying method and device |
| CN109928127B (en) * | 2019-03-25 | 2024-04-26 | 黄淮学院 | Book classifying method and device |
| CN110125044A (en) * | 2019-05-27 | 2019-08-16 | 山东工商学院 | A kind of apple sorting equipment based on binocular vision |
| CN111069065A (en) * | 2019-12-27 | 2020-04-28 | 华南农业大学 | Spherical fruit automatic grading machine based on vision |
| CN111069065B (en) * | 2019-12-27 | 2024-05-10 | 华南农业大学 | Spherical fruit automatic grading machine based on vision |
| CN111438070A (en) * | 2020-04-16 | 2020-07-24 | 扬州大学 | Fruit grain size classification equipment |
| CN111842178A (en) * | 2020-06-18 | 2020-10-30 | 苏州小优智能科技有限公司 | Assembly line shoe blank 3D scanning and intelligent sorting equipment and method |
| CN113305034A (en) * | 2020-09-14 | 2021-08-27 | 绵阳中润机电科技有限公司 | Visual grading system and method for recovery bottles |
| CN113305034B (en) * | 2020-09-14 | 2023-05-09 | 绵阳中润机电科技有限公司 | Vision grading system and method for recycled bottles |
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Granted publication date: 20120502 Termination date: 20120628 |