CN207317785U - A kind of device of core class fruit orientation detection and adjustment based on image recognition - Google Patents
A kind of device of core class fruit orientation detection and adjustment based on image recognition Download PDFInfo
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- CN207317785U CN207317785U CN201721342074.9U CN201721342074U CN207317785U CN 207317785 U CN207317785 U CN 207317785U CN 201721342074 U CN201721342074 U CN 201721342074U CN 207317785 U CN207317785 U CN 207317785U
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- disk
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- 235000013399 edible fruits Nutrition 0.000 title claims abstract description 34
- 238000001514 detection method Methods 0.000 title claims abstract description 11
- 238000007599 discharging Methods 0.000 claims abstract description 4
- 230000004087 circulation Effects 0.000 claims abstract description 3
- 230000001360 synchronised effect Effects 0.000 claims description 18
- 230000003287 optical effect Effects 0.000 claims description 7
- 239000000203 mixture Substances 0.000 claims description 4
- 229910000838 Al alloy Inorganic materials 0.000 claims description 3
- 238000000034 method Methods 0.000 abstract description 13
- 238000005096 rolling process Methods 0.000 abstract description 2
- 239000004575 stone Substances 0.000 abstract description 2
- 240000001008 Dimocarpus longan Species 0.000 description 38
- 235000000235 Euphoria longan Nutrition 0.000 description 38
- 206010040844 Skin exfoliation Diseases 0.000 description 7
- 238000010586 diagram Methods 0.000 description 6
- 241000196324 Embryophyta Species 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 238000007476 Maximum Likelihood Methods 0.000 description 1
- 238000012271 agricultural production Methods 0.000 description 1
- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical compound [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 description 1
- 229910052782 aluminium Inorganic materials 0.000 description 1
- 239000004411 aluminium Substances 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 235000013305 food Nutrition 0.000 description 1
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- Image Processing (AREA)
Abstract
The utility model discloses a kind of core class fruit orientation detection based on image recognition and the device of adjustment, it is characterised in that it includes swivel base for rolling clamp, be evenly arranged on swivel base six be used to clamping the fixtures of core class fruit, the four-way camera device for shooting core class fruit four direction, for shooting the two of core class fruit both direction to camera device, the fixture for being used to adjust core class fruit orientation being longitudinally arranged.Wherein：Six fixture circulation rotatings simultaneously pass through six stations successively, and six stations include feeding station, four-way shooting station, orientation and once adjust station, two to shooting station, the secondary adjustment station in orientation and discharging station.The utility model is simple in structure, design is reasonable, and can install machines to replace manual labor work, the orientation detection being automatically performed before core class extracting fruit stone and adjustment, lay the foundation for the digging core process of next step, it is adaptable strong, work efficiency is high, the degree of automation is high the advantages that.
Description
Technical field
The utility model belongs to food processing machinery technical field, and in particular to a kind of core class fruit based on image recognition
Orientation detection and the device of adjustment.
Background technology
Core class fruit such as longan, lichee etc. are usually utilized to making pulp and do.It is most time-consuming during such fruit process
And most expend factory's human cost is exactly that nuclear ring section is dug in peeling.In hot production season, it is necessary to worker in the production line round the clock
Ceaselessly core is dug in peeling, and product quality is difficult to control because of individual difference and higher labor intensity so that and plant produced efficiency is low,
A large amount of artificial inputs also cause the raising of plant produced cost.Therefore, install machines to replace manual labor, realize that core is dug in automation peeling
It is the inevitable development trend of tinned fruit processing factory.However, the primary on condition that adjusting in advance of core is dug in high-efficiency automatic peeling
The orientation of good fruit, traditional fruit automatic peeling dig nuclear equipment and do not have effective method to realize this premise, Zhi Nengyi
Rely the orientation for manually adjusting fruit to remove the peel digging core again, or abandon adjustment orientation and directly remove the peel digging core, it is impossible to meet modern agricultural production
The requirement of product deep processing.So realize that the big key point that core is dug in the automation peeling of core class fruit is the automatic of fruit orientation
Adjustment.
Utility model content
In view of the above problems, the utility model provides a kind of core class fruit orientation detection based on image recognition and adjustment
Device, core class fruit after orientation adjustment can be sent into other peelings with desired orientation and dug in nuclear devices.
In order to achieve the above object, technical solution adopted in the utility model is：
A kind of device of core class fruit orientation detection and adjustment based on image recognition, it is characterised in that including for revolving
Six fixtures for being used to clamp core class fruit for turn the swivel base of fixture, being evenly arranged on swivel base, six fixtures follow
Ring rotates and passes through six stations successively, wherein,
One station is feeding station；
Two stations image station for four-way, further include a four-way camera device, four-way camera device is fixed by camera
Seat and the four cameras composition being installed in inside lens fixed seat, four cameras are in two groups to arrangement, one group of shooting
The line of head is in X-shaped square crossing with the line of another group of camera, and the intersection point of line is located at the left gripping disk of fixture and right folder
Hold the midpoint of disk center's line；
Three stations once adjust station for orientation, further include a placed longitudinally fixture, the placed longitudinally fixture
The left gripping disk of fixture on the midpoint and swivel base of left gripping disk and the right gripping disk line of centres and right gripping disk center connect
The midpoint of line overlaps；
Four stations, to shooting station, further include one two and are fixed to camera device, two to camera device by camera for two
Seat and the two cameras composition being diametrically installed in inside lens fixed seat, the midpoint of two camera lines and fixture
Left gripping disk and the right gripping disk line of centres midpoint overlap；
Five stations are the secondary adjustment station in orientation, further include a placed longitudinally fixture, the placed longitudinally fixture
The left gripping disk of fixture on the midpoint and swivel base of left gripping disk and the right gripping disk line of centres and right gripping disk center connect
The midpoint of line overlaps；
Six stations are discharging station.
The fixture includes clamp base and two left gripping disks and right gripping disk being oppositely arranged, fixture left arm and fixture
Right arm is connected by bearing with being installed in the slip optical axis of clamp base respectively, is arranged on the left and right sides of clamp base, can edge
Slip optical axis to slide axially；
Rotating stepper motor is installed in the left side of fixture left arm, is connected by rotation synchronization belt with rotation synchronizing wheel；Zuo Jia
Hold the front end that disk is located at fixture left arm, and synchronizing wheel is concentric is connected with rotation；Second synchronous idle pulley idle pulley synchronous with the 3rd is from upper
It is sequentially arranged under and on fixture left arm, is driven and rotated by rotation synchronization belt when rotating synchronizing wheel and rotating；
Clamping stepper motor is located at the right side of fixture right arm, and is installed in the lower right side of clamp base, clamps stepper motor
Top be connected with clamping synchronizing wheel, clamp synchronous with first idle pulley of synchronizing wheel and be connected by clamping synchronous belt, fixing axle passes through
The center of first synchronous idle pulley, and be installed in clamp base；Right gripping disk is installed in fixture right arm front end.
The lens fixed seat is the octagon structure for removing right vertical section, is made of aluminium alloy.
The beneficial effects of the utility model：The utility model is simple in structure, and design is reasonable, and can install machines to replace manual labor labor
Dynamic, the orientation detection being automatically performed before core class extracting fruit stone and adjustment, lay the foundation for the digging core process of next step, have and adapt to
The advantages that property is strong, work efficiency is high, the degree of automation is high.
Brief description of the drawings
Fig. 1 is the general structure schematic diagram of the utility model；
Fig. 2 is the structure diagram of four-way camera device；
Fig. 3 is two structure diagrams to camera device；
Fig. 4 is the structure diagram of fixture；
Fig. 5 is the left view schematic diagram of fixture；
Fig. 6 is that the right side of fixture regards schematic diagram；
Fig. 7 is longan base of a fruit three dimensional orientation figure in embodiment.
In figure, swivel base 1, fixture 2, four-way camera device 3, two to camera device 4, lens fixed seat 5, camera
6, clamp base 7, left gripping disk 8, right gripping disk 9, fixture left arm 10, fixture right arm 11, bearing 12, slides optical axis 13, rotation
Stepper motor 14, rotation synchronization belt 15, rotates synchronizing wheel 16, clamps stepper motor 17, clamps synchronous belt 18, clamps synchronizing wheel
19, fixing axle 20, the first synchronous idle pulley 21, the second synchronous idle pulley 22, the 3rd synchronous idle pulley 23, the longan base of a fruit 24.
Embodiment
The utility model is described further with reference to the accompanying drawings and detailed description.
As shown in Figures 1 to 6, the utility model includes the swivel base 1 for rolling clamp, is evenly arranged in rotation bottom
Six on disk 1 fixtures 2 for being used to clamp core class fruit, six 2 circulation rotatings of fixture simultaneously pass through six stations successively, wherein,
One station is feeding station；
Two stations image station for four-way, further include a four-way camera device 3, four-way camera device 3 is consolidated by camera
Reservation 5 and four cameras 6 being installed in lens fixed seat 5 inside form, four cameras 6 be in two groups to arrangement, one
The line of the line and another group of camera 6 of group camera 6 is in X-shaped square crossing, and the intersection point of line is located at the left clamping of fixture 2
The midpoint of 9 line of centres of disk 8 and right gripping disk；
Three stations once adjust station for orientation, further include a placed longitudinally fixture 2, the placed longitudinally fixture 2
9 line of centres of left gripping disk 8 and right gripping disk midpoint and swivel base 1 on fixture 2 left gripping disk 8 and right gripping disk
The midpoint of 9 lines of centres overlaps；
Four stations, to shooting station, further include one two and are consolidated to camera device 4, two to camera device 4 by camera for two
Reservation 5 and two cameras 6 being diametrically installed in inside lens fixed seat 5 form, the midpoint of two 6 lines of camera
Overlapped with the midpoint of 9 line of centres of left gripping disk 8 and right gripping disk of fixture 2；
Five stations are the secondary adjustment station in orientation, further include a placed longitudinally fixture 2, the placed longitudinally fixture 2
9 line of centres of left gripping disk 8 and right gripping disk midpoint and swivel base 1 on fixture left gripping disk 8 and right gripping disk 9
The midpoint of the line of centres overlaps；
Six stations are discharging station.
Swivel base 1 is connected with the extra stepper motor being fixed on machine casing, and stepper motor is controlled by computer
Drive swivel base 1.Longitudinally disposed fixture 2, four-way camera device 3, two are also fixed on outside machine to camera device 4 with aluminium sheet
On shell.
The fixture 2 includes the left gripping disk 8 and right gripping disk 9 that clamp base 7 and two is oppositely arranged, clamp base 7
It is fixedly connected with swivel base, fixture left arm 10 and fixture right arm 11 pass through bearing 12 and the cunning for being installed in clamp base 7 respectively
Dynamic optical axis 13 connects, and is arranged on the left and right sides of clamp base 7, can slide axially along optical axis 13 is slided；
Rotating stepper motor 14 is installed in the left side of fixture left arm 10, is connected by rotation synchronization belt 15 and rotation synchronizing wheel 16
Connect；Left gripping disk 8 is located at the front end of fixture left arm 10, and synchronizing wheel 16 is concentric is connected with rotation；Second synchronous idle pulley 22 and the
Three synchronous idle pulleys 23 are sequentially arranged on fixture left arm 10 from top to bottom, when rotating synchronizing wheel 16 and rotating by 15 band of rotation synchronization belt
Turn is moved；
Clamping stepper motor 17 is located at the right side of fixture right arm 11, and is installed in the lower right side of clamp base 7, clamps stepping
The top of motor 17 is connected with clamping synchronizing wheel 19, and clamping synchronizing wheel 19 idle pulley 21 synchronous with first is by clamping 18 phase of synchronous belt
Even, fixing axle 20 is through the center of the first synchronous idle pulley 21, and is installed in clamp base 7；Right gripping disk 9 is installed in the fixture right side
11 front end of arm.
The lens fixed seat 5 is the octagon structure for removing right vertical section, is made of aluminium alloy.
The operation principle of the utility model is as follows：Whole device is an assembly line, there is six working positions and seven processes.
Core class fruit is clamped by the fixture 2 on swivel base 1, sequentially enters each station, and each beat is driven one mobile by motor
Station, is taken pictures, adjusts orientation, be finally moved out on other processing unit (plant)s.Be installed on fixture 2 on swivel base 1 into
When entering each station, one of instrument for completing current process, that is, the role for completing fixture and function are also functioned as.
Exemplified by clamping and adjust longan, the work step of the utility model is as follows：
（1）Access process
Longan is passed to from there（From other auxiliary equipment）, longan is then clamped by the fixture 2 of a station.
（2）Four-way images process
Longan enters two stations, in order to obtain the image of longan, need to take pictures to 6 directions of longan, just as cubical 6
A face, first claps 4 directions using four-way camera device 3 herein.
（3）Orientation once adjusts process
In order to shoot the image in remaining two orientation, it is necessary to which longan is adjusted orientation.Idiographic flow is：
（3-1）Longan enters three stations.Longan is clamped by the fixture 2 on swivel base 1 at this time.
（3-2）Longitudinally disposed fixture 2 clamps longan on three stations.
（3-3）Fixture 2 on swivel base 1 unclamps longan.
（3-4）Longitudinally disposed fixture 2 rotates 90 degree of longan.
（3-5）Fixture 2 on swivel base 1 clamps longan.
（3-6）Longitudinally disposed fixture 2 unclamps longan.
（3-7）Fixture 2 on swivel base 1 rotates 90 degree of longan.
In this way, laterally remaining two orientation that longan was originally blocked by the fixture 2 on swivel base 1 have been adjusted to vertical.
（4）Two to shooting process
Longan enters four stations, and remaining two orientation of longan are shot by the two of four stations to camera device 4 at this time.
（5）Image recognition process
6 bearing images of longan, which have all been taken, at this time obtains computer picture information.Computer will be known using image
Other technology calculates the three-dimensional viewpoin information of longan maximum likelihood.
Any present orientation of longan, can all be decomposed into horizontal fixture rotation angle, and longitudinal direction folder according to target bearing
Has rotation angle.
If target bearing is that the longan base of a fruit 23 is adjusted upward position, then decompose as shown in fig. 7, XZ planes be horizontal plane, horizontal stroke
It it is 35 ° to fixture rotation angle, longitudinal fixture rotation angle is 50 °, and the center of longan is located at reference axis origin position, the longan base of a fruit
24 position relative level is to tilt upward.
（6）The secondary adjustment process in orientation
Longan enters five stations, and the 6 of longan bearing images, which have all been taken, at this time obtains computer picture information.Calculate
For machine according to result of calculation, horizontal, the fixture of longitudinal direction two for manipulating five stations coordinate the rotation longan base of a fruit 24 to target bearing.
Execution step at this time is：
（6-1）Longan enters five stations.Longan is clamped by the fixture 2 on swivel base 1 at this time.
（6-2）Fixture 2 on swivel base 1 rotates clockwise 35 degree.
（6-3）Longitudinally disposed fixture 2 clamps longan on five stations.
（6-4）Fixture 2 on swivel base 1 unclamps longan.
（6-5）Longitudinally disposed fixture 2 rotates clockwise 50 degree.
（6-6）Fixture 2 on swivel base 1 clamps longan.
（6-7）Longitudinally disposed fixture 2 unclamps longan, and at this time, the longan base of a fruit 24 has been rotated to straight up.
（7）Remove process
Longan orientation has adjusted correctly in previous step, and at this time into six stations, other processing are transferred in this position
Device.
Claims (3)
1. a kind of device of core class fruit orientation detection and adjustment based on image recognition, it is characterised in that including for rotating
The swivel base of fixture, six be evenly arranged on swivel base are used for the fixture for clamping core class fruit, six fixture circulations
Rotate and pass through six stations successively, wherein,
One station is feeding station；
Two stations image station for four-way, further include a four-way camera device, four-way camera device by lens fixed seat and
The four cameras composition being installed in inside lens fixed seat, four cameras in two groups to arrangement, one group of camera
The line of line and another group of camera is in X-shaped square crossing, and the intersection point of line is located at the left gripping disk and right gripping disk of fixture
The midpoint of the line of centres；
Three stations once adjust station for orientation, further include a placed longitudinally fixture, the left folder of the placed longitudinally fixture
Hold the left gripping disk and the right gripping disk line of centres of the fixture on the midpoint and swivel base of disk and the right gripping disk line of centres
Midpoint overlaps；
Four stations to shooting station, further include one two to camera device for two, two to camera device by lens fixed seat and
The two cameras composition being diametrically installed in inside lens fixed seat, the midpoint of two camera lines and a left side for fixture
The midpoint of clamping disk and the right gripping disk line of centres overlaps；
Five stations are the secondary adjustment station in orientation, further include a placed longitudinally fixture, the left folder of the placed longitudinally fixture
Hold the left gripping disk and the right gripping disk line of centres of the fixture on the midpoint and swivel base of disk and the right gripping disk line of centres
Midpoint overlaps；
Six stations are discharging station.
2. the device of core class fruit orientation detection and adjustment according to claim 1 based on image recognition, its feature exist
In the fixture includes clamp base and two left gripping disks and right gripping disk being oppositely arranged, fixture left arm and fixture right arm
It is connected respectively by bearing with being installed in the slip optical axis of clamp base, is arranged on the left and right sides of clamp base, can be along cunning
Dynamic optical axis slides axially；
Rotating stepper motor is installed in the left side of fixture left arm, is connected by rotation synchronization belt with rotation synchronizing wheel；Left gripping disk
It is located at the front end of fixture left arm, and synchronizing wheel is concentric is connected with rotation；Second synchronization idle pulley idle pulley synchronous with the 3rd is from top to bottom
It is sequentially arranged on fixture left arm, is driven and rotated by rotation synchronization belt when rotating synchronizing wheel and rotating；
Clamping stepper motor is located at the right side of fixture right arm, and is installed in the lower right side of clamp base, clamps the top of stepper motor
Portion is connected with clamping synchronizing wheel, and clamping synchronizing wheel idle pulley synchronous with first is connected by clamping synchronous belt, and fixing axle passes through first
The center of synchronous idle pulley, and be installed in clamp base；Right gripping disk is installed in fixture right arm front end.
3. the device of core class fruit orientation detection and adjustment according to claim 1 based on image recognition, its feature exist
In the lens fixed seat is the octagon structure for removing right vertical section, is made of aluminium alloy.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721342074.9U CN207317785U (en) | 2017-10-18 | 2017-10-18 | A kind of device of core class fruit orientation detection and adjustment based on image recognition |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721342074.9U CN207317785U (en) | 2017-10-18 | 2017-10-18 | A kind of device of core class fruit orientation detection and adjustment based on image recognition |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207317785U true CN207317785U (en) | 2018-05-04 |
Family
ID=62381270
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201721342074.9U Withdrawn - After Issue CN207317785U (en) | 2017-10-18 | 2017-10-18 | A kind of device of core class fruit orientation detection and adjustment based on image recognition |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207317785U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107576304A (en) * | 2017-10-18 | 2018-01-12 | 庞雨 | A kind of device and method of core class fruit orientation detection and adjustment based on image recognition |
-
2017
- 2017-10-18 CN CN201721342074.9U patent/CN207317785U/en not_active Withdrawn - After Issue
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107576304A (en) * | 2017-10-18 | 2018-01-12 | 庞雨 | A kind of device and method of core class fruit orientation detection and adjustment based on image recognition |
| CN107576304B (en) * | 2017-10-18 | 2024-01-05 | 庞雨 | Nuclear fruit azimuth detection and adjustment device and method based on image recognition |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned | ||
| AV01 | Patent right actively abandoned | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20180504 Effective date of abandoning: 20240105 |
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| AV01 | Patent right actively abandoned |
Granted publication date: 20180504 Effective date of abandoning: 20240105 |