CN208116188U - A kind of fruit Automated Sorting System - Google Patents
A kind of fruit Automated Sorting System Download PDFInfo
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- CN208116188U CN208116188U CN201820059515.2U CN201820059515U CN208116188U CN 208116188 U CN208116188 U CN 208116188U CN 201820059515 U CN201820059515 U CN 201820059515U CN 208116188 U CN208116188 U CN 208116188U
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- sorting
- fruit
- sorting equipment
- conveying device
- computer
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Abstract
The utility model discloses a kind of fruit Automated Sorting System, including computer, conveying device, sorting equipment and image collecting device, the computer is electrically connected conveying device transmission control signal, the conveying device includes that material is loaded into region, sorting area and multiple package position region, the sorting area side is provided with sorting equipment, the sorting equipment is electrically connected computer and receives signal control, sorting area side position place opposite with the sorting equipment is provided with image collecting device, described image acquisition device is electrically connected computer and uploads image data.Through the above way, the utility model provides a kind of fruit Automated Sorting System and method, the consistent fruit of certain size can be picked out automatically, has the characteristics that precision is high, error is low, speed is fast, high degree of automation, to realize the automated production of fruit packaging processing.
Description
Technical field
The utility model relates to a kind of fruit Automated Sorting Systems.
Background technique
The demand to fruit size identical property is had when customer selects fruit, so it is necessary to sort out for fruit supplier
Fruit of the same size.It at present for the classification of fruit size mainly by human eye, furthermore is to rely on by weighing manually
The weight induction of fruit is classified.If manpower, drawback is large labor intensity, automates low, low efficiency, and error is big.It leans on
Then precision is low for the mechanical equipment of weight induction, because even the weight of fruit is the same, but may not be able to illustrate their size
Equally.
Utility model content
The utility model, can automatical mainly solving the technical problems that provide a kind of fruit Automated Sorting System and method
The consistent fruit of certain size is selected, has the characteristics that precision is high, error is low, speed is fast, high degree of automation, thus real
The automated production of existing fruit packaging processing.
In order to solve the above technical problems, the technical solution that the utility model uses is：A kind of fruit is provided to divide automatically
System and method, including computer, conveying device, sorting equipment and image collecting device are picked, the computer is electrically connected
Conveying device transmission control signal, the conveying device include that material is loaded into region, sorting area and multiple package position region, institute
It states sorting area side and is provided with sorting equipment, the sorting equipment is electrically connected computer and receives signal control, the sorting
Region side position place opposite with the sorting equipment is provided with image collecting device, and described image acquisition device is electrically connected meter
Calculation machine uploads image data, and the sorting equipment also includes NonConforming Parts Area, and the NonConforming Parts Area is arranged in the sorting
Within the scope of device working radius.
In one preferred embodiment of the utility model, the conveying device is conveyer belt, and the leading portion of the conveyer belt is
Material is loaded into region, and middle section is sorting area, and back segment is multiple package position region.
In one preferred embodiment of the utility model, the sorting equipment is mechanical arm, the mechanical arm head setting
There is the collet to match with material to be sorted.
In one preferred embodiment of the utility model, described image acquisition device is industrial camera, and the industry is shone
Sorting area is completely covered towards mechanical arm arrangements, the image-capture field of the industrial camera in camera.
A kind of fruit Automated Sorting System control method, includes the following steps:
Step 1：Fruit to be sorted is placed in material in conveying device and is loaded into region；
Step 2：Industrial camera acquires the dynamic image of sorting area in conveying device in real time and incoming computer carries out
Image recognition calculates fruit size in image, determines result by setting sorting requirement output；
Step 3：Computer, which obtains, determines that crawl does not meet step 2 sorting as a result, exporting control signal to sorting equipment
It is required that fruit to NonConforming Parts Area；
Step 4：Meet step 2 sorting require fruit retain on a conveyor, be transported to multiple package position region into
Row packaging processing.
In one preferred embodiment of the utility model, the step 1, placing condition must be separated from each other and not for fruit
It is stacked together.
In one preferred embodiment of the utility model, the step 2, computer obtains image data and does gradation conversion
Processing finds four coordinate points and calculates RT rotation offset matrix, setting calibration for cameras coordinate, mechanical arm position coordinate and calibration
Face size parameter calculates the calibration face size data of fruit.
The utility model has the beneficial effects that：A kind of fruit Automated Sorting System provided by the utility model and method, can
Automatically the consistent fruit of certain size is picked out, has the characteristics that precision is high, error is low, speed is fast, high degree of automation,
To realize the automated production of fruit packaging processing.
Detailed description of the invention
It, below will be to required in embodiment description in order to illustrate more clearly of the technical scheme in the embodiment of the utility model
Attached drawing to be used is briefly described, it should be apparent that, the accompanying drawings in the following description is only some realities of the utility model
Example is applied, it for those of ordinary skill in the art, without creative efforts, can also be according to these attached drawings
Other attached drawings are obtained, wherein：
Fig. 1 is the structure chart of a preferred embodiment of a kind of fruit Automated Sorting System of the utility model and method；
Fig. 2 is the flow chart of a preferred embodiment of a kind of fruit Automated Sorting System of the utility model and method.
Specific embodiment
Below by the technical scheme in the utility model embodiment is clearly and completely described, it is clear that described
Embodiment is only a part of the embodiment of the utility model, instead of all the embodiments.Based on the implementation in the utility model
Example, all other embodiment obtained by those of ordinary skill in the art without making creative efforts belong to
The range of the utility model protection.
As shown in Figs. 1-2, the utility model embodiment includes：
A kind of fruit Automated Sorting System and method, including computer, conveying device, sorting equipment and image collector
It sets, the computer is electrically connected conveying device transmission control signal, and the conveying device includes that material is loaded into region, off-sorting station
Domain and multiple package position region, the sorting area side are provided with sorting equipment, and the sorting equipment is electrically connected computer
Receive signal control, sorting area side position place opposite with the sorting equipment is provided with image collecting device, described
Image collecting device be electrically connected computer upload image data, the sorting equipment also includes NonConforming Parts Area, it is described not
Qualified product area is arranged within the scope of the sorting equipment working radius.
Wherein, the conveying device is conveyer belt, and the leading portion of the conveyer belt is that material is loaded into region, and middle section is off-sorting station
Domain, back segment are multiple package position region.
Further, the sorting equipment is mechanical arm, and the mechanical arm head is provided with to match with material to be sorted
Collet.
Further, described image acquisition device is industrial camera, and the industrial camera is towards mechanical arm arrangements, institute
Sorting area is completely covered in the image-capture field for stating industrial camera.
A kind of fruit Automated Sorting System control method, includes the following steps:
Step 1：Fruit to be sorted is placed in material in conveying device and is loaded into region；
Step 2：Industrial camera acquires the dynamic image of sorting area in conveying device in real time and incoming computer carries out
Image recognition calculates fruit size in image, determines result by setting sorting requirement output；
Step 3：Computer, which obtains, determines that crawl does not meet step 2 sorting as a result, exporting control signal to sorting equipment
It is required that fruit to NonConforming Parts Area；
Step 4：Meet step 2 sorting require fruit retain on a conveyor, be transported to multiple package position region into
Row packaging processing.
Further, the step 1, placement condition must be separated from each other for fruit and be stacked together.
Further, the step 2, computer obtain image data and do gradation conversion processing, find four coordinate points meters
RT rotation offset matrix is calculated, setting calibration for cameras coordinate, mechanical arm position coordinate and calibration face size parameter calculate fruit
Calibration face size data.
Specifically, sorting process is：
1. fruit uniformly lays flat and is transported to multiple package position on a moving belt.It is separated from each other to notice that fruit needs, cannot overlay
Together.
2. there is an industrial camera to take pictures on conveyer belt by setpoint frequency, multiple water in photo cover are obtained
Fruit.
3. the photo of shooting is passed to computer and carries out image recognition.
4. the size cases of fruit area in image can be identified by the calculating to image area.
5. mechanical arm grabs the undesirable set of fruit of area in image and is placed in NonConforming Parts Area.
6. the fruit for finally ensuring to flow into multiple package position is in the same size.
Further, as shown in Fig. 2, the specific method of sorting fruit is：
1. the photo that camera obtains is passed to computer；
2. in order to calculate identification, each color image photo is converted into gray level image by computer；
3. calculating the posture position of camera by four characteristic points；
4. the calibration of camera coordinates calculates RT rotation offset matrix；
5. mechanical arm position point is arranged；
6. RT matrix is arranged；
7. the length in calibration face is arranged, wide, cell size；
8. obtaining the length in setting calibration face, wide, cell size；
9. obtaining picture point coordinate；
10. obtaining transition matrix RT value；
11. image coordinate point switchs to mechanical arm coordinate, that is, the coordinate position grabbed；
12. extracting the area of fruit according to color boundaries segmentation；
13. the size according to area is selected, conveyer belt is stayed in if area coinciding requires and is sent in next step packaging
Otherwise station is taken away by mechanical arm.
In conclusion the utility model provides a kind of fruit Automated Sorting System and method, can pick out automatically certain
The consistent fruit of size has the characteristics that precision is high, error is low, speed is fast, high degree of automation, to realize fruit packet
Fill the automated production of processing.
The above description is only the embodiments of the present invention, and therefore it does not limit the scope of the patent of the utility model, all
Using equivalent structure or equivalent flow shift made by the utility model description, it is applied directly or indirectly in other phases
The technical field of pass, is also included in the patent protection scope of the utility model.
Claims (4)
1. a kind of fruit Automated Sorting System, which is characterized in that adopted including computer, conveying device, sorting equipment and image
Acquisition means, the computer electric connection conveying device transmission control signal, the conveying device includes that material is loaded into region, divides
Sorting zone domain and multiple package position region, the sorting area side are provided with sorting equipment, and the sorting equipment is electrically connected meter
Calculation machine receives signal control, and sorting area side position place opposite with the sorting equipment is provided with image collecting device,
Described image acquisition device is electrically connected computer and uploads image data, and the sorting equipment also includes NonConforming Parts Area, institute
NonConforming Parts Area is stated to be arranged within the scope of the sorting equipment working radius.
2. fruit Automated Sorting System according to claim 1, which is characterized in that the conveying device is conveyer belt, institute
The leading portion for stating conveyer belt is that material is loaded into region, and middle section is sorting area, and back segment is multiple package position region.
3. fruit Automated Sorting System according to claim 1, which is characterized in that the sorting equipment is mechanical arm, institute
It states mechanical arm head and is provided with the collet to match with material to be sorted.
4. fruit Automated Sorting System according to claim 1, which is characterized in that described image acquisition device is that industry is shone
Off-sorting station is completely covered towards mechanical arm arrangements, the image-capture field of the industrial camera in camera, the industrial camera
Domain.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820059515.2U CN208116188U (en) | 2018-01-15 | 2018-01-15 | A kind of fruit Automated Sorting System |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820059515.2U CN208116188U (en) | 2018-01-15 | 2018-01-15 | A kind of fruit Automated Sorting System |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208116188U true CN208116188U (en) | 2018-11-20 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820059515.2U Expired - Fee Related CN208116188U (en) | 2018-01-15 | 2018-01-15 | A kind of fruit Automated Sorting System |
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| Country | Link |
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| CN (1) | CN208116188U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108188039A (en) * | 2018-01-15 | 2018-06-22 | 苏州工业园区服务外包职业学院 | A kind of fruit Automated Sorting System and method |
-
2018
- 2018-01-15 CN CN201820059515.2U patent/CN208116188U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108188039A (en) * | 2018-01-15 | 2018-06-22 | 苏州工业园区服务外包职业学院 | A kind of fruit Automated Sorting System and method |
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| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20181120 Termination date: 20210115 |
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| CF01 | Termination of patent right due to non-payment of annual fee |