CN209878582U - Imaging acquisition device for omnibearing detection of navel oranges - Google Patents
Imaging acquisition device for omnibearing detection of navel oranges Download PDFInfo
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- CN209878582U CN209878582U CN201920723606.6U CN201920723606U CN209878582U CN 209878582 U CN209878582 U CN 209878582U CN 201920723606 U CN201920723606 U CN 201920723606U CN 209878582 U CN209878582 U CN 209878582U
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Abstract
An imaging acquisition device for omnibearing navel orange detection comprises a shell, a camera, a light source, a navel orange loading mechanism and a navel orange pushing-off mechanism; the top surface of the shell is provided with a door capable of being opened and closed; the inner surface of the shell is provided with a black light absorption material layer to form a darkroom; the bottom surface of the shell is open, a separating frame is connected on the bottom surface of the shell, and the bottom surface of the shell is divided into a left qualified product outlet and a right qualified product outlet; the navel orange loading mechanism is connected to the top of the separation frame; the camera is arranged at the top of the inner ground of the shell and faces the navel orange placing position at the top of the navel orange loading mechanism; a light source is arranged on the navel orange loading mechanism, and faces to the navel orange placing position from bottom to top; the navel orange push-off mechanism comprises two pairs of mechanisms, and the two pairs of mechanisms are connected to the left side and the right side of the shell in a left-right mode. The device can collect the spectral images of the navel oranges on multiple surfaces.
Description
The technical field is as follows:
the utility model relates to a navel orange detects technical field, concretely relates to image acquisition device of all-round detection of navel orange.
Background art:
with the development of modern industry, the fresh fruit juice vending machine gradually enters the lives of people. Once the mobile phone scans, 4 and 5 oranges in the refrigerated cabinet can be seen through the translucent window immediately, and the oranges are peeled one by one in a row under the automatic operation of a mechanical system, squeezed into a cup of delicious iced fruit juice and sent to the hand. However, there is no guarantee that every orange therein is fresh and not rotten (rotten hearts) inside.
The fresh fruit juice vending machine has potential safety hazard because the internal rotting defect can not be seen from the outside. Therefore, the market urgently needs a nondestructive testing device which hopes to be added on the inner rotten fruit defect of the navel orange on the automatic juice extractor in the market and can comprehensively detect whether the inner part of the navel orange is damaged or not.
In the prior art, a navel orange rotten heart detection method based on a navel orange spectral image (for example, a navel orange rotten heart nondestructive detection method based on blue waveband transmission image detection in publication number 108872085A) is adopted, and the detection speed can be greatly improved by applying computer operation. And in a very small space of the automatic juice extractor, the collection (photographing) of multi-angle spectrum images of the navel oranges is not easy to realize.
The invention content is as follows:
in order to overcome the defects of the prior art, the invention aims to provide a device capable of acquiring images of navel oranges in an all-dimensional manner, which can realize the shooting and acquisition of the images of the navel oranges at multiple angles and can screen and detect the navel oranges.
To achieve the purpose, the technical scheme is as follows:
an imaging acquisition device for omnibearing navel orange detection comprises a shell, a camera, a light source, a navel orange loading mechanism and a navel orange pushing-off mechanism;
the top surface of the shell is provided with a door capable of being opened and closed; the inner surface of the shell is provided with a black light absorption material layer to form a darkroom;
the bottom surface of the shell is open, a separating frame is connected on the bottom surface of the shell, and the bottom surface of the shell is divided into a left qualified product outlet and a right qualified product outlet; the navel orange loading mechanism is connected to the top of the separation frame;
the camera is arranged at the top of the inner ground of the shell and faces the navel orange placing position at the top of the navel orange loading mechanism; a light source is arranged on the navel orange loading mechanism, and faces to the navel orange placing position from bottom to top;
the navel orange push-off mechanism comprises two paired navel orange push-off mechanisms, wherein the two paired navel orange push-off mechanisms are connected to the left side and the right side of the shell in a left-right mode and face the navel orange placing position;
the navel orange loading mechanism comprises a supporting shell, a roller, a tray, a light source, a rotating motor and a lifting driving mechanism;
the center of the tray is provided with a light transmission hole, the bottom of the tray is connected with a rotary drum with a hole at the top, the bottom surface of the rotary drum is connected with an output shaft of the rotating motor, and the main body of the rotating motor is connected to the separation frame; the light source is arranged in the rotary drum;
the lifting driving mechanism comprises a lifting motor and a lifting guide pillar; the lifting guide post is internally provided with a hollow part, and the rotary drum and the rotating motor are positioned in the hollow part; the lifting guide pillar is connected to the separation frame;
the inner wall of the support shell is in a spherical crown shape, and the surface of the inner wall is coated with a reflective material layer; the opening of the supporting shell is upward, a through hole is formed in the spherical crown, and the through hole is sleeved outside the lifting guide pillar; the lifting motor is connected to the outer wall of the support shell through a connecting mechanism; the side wall of the support shell is provided with the roller, the surface of the roller is provided with a flexible friction material layer, one part of the roller is arranged in the support shell through an opening on the support shell, and the other part of the roller is arranged outside the support shell; the rotation axis of the roller is parallel to the horizontal plane and is parallel to 1 tangent of a circle on the spherical crown. The driving motor of the roller can be directly connected with the outside of the support shell, the rotating shaft of the roller is connected with the outer wall of the support shell through a bearing, and the rotating shaft of the driving motor is connected with the rotating shaft of the roller through a transmission mechanism.
Further, elevating motor and hold in the palm the coupling mechanism between the shell outer wall and include: the guide rod, the guide block, the wedge-shaped sleeve and the pair of support rods are rotatably connected;
the wedge-shaped sleeve is a cylinder with a side wall provided with a bevel cut, and the plane of the bevel cut forms an acute angle with the axis of the cylinder; the bottom of the wedge-shaped sleeve is connected with a rotating shaft of the lifting motor, and the rotating axis of the rotating shaft is superposed with the axis of the wedge-shaped sleeve;
the guide block is provided with a through hole, and the guide rod penetrates through the through hole and moves up and down along the through hole; the guide block is connected to the lower part of the outer wall of the lifting guide column; the top of the guide rod is connected to the bottom of the support shell, the bottom end of the guide rod is provided with a chamfer, and the bottom end of the guide rod is in sliding fit with the side wall of a chamfer of the wedge-shaped sleeve through the chamfer; the wedge sleeve connecting column is connected to the bottom of the lifting guide pillar and used for supporting the wedge sleeve, and the wedge sleeve rotates around the wedge sleeve connecting column.
The top ends of the paired supporting rods are rotatably connected to the bottom of the supporting shell, and the bottom ends of the paired supporting rods are connected to the lower part of the outer wall of the lifting guide pillar;
the two pairs of supporting rods are symmetrical about the axis of the lifting guide column.
Further, the tray is made of black rubber; the tray is directly below the door.
Furthermore, the openable and closable door comprises a door opening and a door plate, and the door plate is connected to the door opening in a sliding manner; the lateral surface outside the door opening is connected with a sliding rail, and the door plate is connected with a sliding block correspondingly connected with the sliding rail; a door opening motor is connected outside the door opening; a first guide rod is connected to a rotating shaft of the door opening motor, the tail end of the first guide rod is rotatably connected with a second guide rod, and the tail end of the second guide rod is rotatably connected to the door plate.
Further, the navel orange pushing-off mechanism is connected to the outer wall of the shell through a connecting plate;
the navel orange pushing-off mechanism comprises a push rod and a push rod motor; the push rod penetrates through a through hole formed in the shell and extends into the shell, and the front end of the push rod is connected with a rubber disc; the upper and lower sides of the rear part of the push rod are respectively connected with an upper rack and a lower rack;
the main body of the push rod motor is connected to the rear side of the connecting plate, a rotating shaft of the push rod motor penetrates through a through hole in the connecting plate and extends to the front side of the connecting plate, and a driving gear is connected to the end part of the rotating shaft of the push rod motor; two driven gears are respectively connected to the upper side and the lower side of the driving gear, and rotating shafts of the driven gears are connected to the connecting plate through bearings; the rotating shaft of each driven gear is also connected with a half gear which acts synchronously, and the two plate half gears are respectively meshed with the upper rack and the lower rack.
Further, the axis of the camera is at an acute angle to the horizontal.
Drawings
FIG. 1 is a schematic view of the structure of the apparatus;
FIG. 2 is a schematic structural view of a tray section;
FIG. 3 is a schematic diagram of the internal structure of the device when acquiring a spectral image of navel orange;
FIG. 4 is a schematic view of the internal structure of the device when the navel orange is rotated by the rollers;
FIG. 5 is a schematic view of the internal structure of the device when the navel orange is pushed away;
FIG. 6 is a schematic structural view (left side) of the navel orange push-off mechanism;
figure 7 is a schematic view of the construction of the switchable door;
FIG. 8 is a first schematic view showing the lifting and lowering of the cradle;
FIG. 9 is a second schematic view of the cradle being raised and lowered;
FIG. 10 is a schematic view of the connection between the wedge sleeve and the guide bar;
in the figure: the device comprises a shell 1, a camera 2, a light source (halogen spot lamp) 3, a navel orange loading mechanism 4, a navel orange pushing-separating mechanism 5, a door 6 capable of being opened and closed, a separation frame 7, a qualified product outlet 8, a unqualified product outlet 9, a support shell 10, a roller 11, a tray 12, a rotating motor 14, a rotary drum 15, a lifting motor 16, a lifting guide pillar 17, a guide rod 18, a guide block 19, a wedge-shaped sleeve 20 and a support rod 21; the wedge-shaped sleeve comprises a wedge-shaped sleeve oblique cut 22, a door opening 23, a door plate 24, a sliding rail 25, a door opening motor 26, a first guide rod 27, a second guide rod 28, a connecting plate 29, a push rod 30, a push rod motor 31, a rubber disc 32, an upper rack 33, a lower rack 34, a driving gear 35, a driven gear 36, a semi-gear 37, a navel orange 38 and a wedge-shaped sleeve connecting column 39.
The specific implementation mode is as follows:
the technical solution is further explained by the following detailed implementation mode with the attached drawings:
as shown in fig. 1-10, an imaging acquisition device for omni-directional navel orange detection comprises a housing, a camera, a light source, a navel orange loading mechanism and a navel orange pushing-off mechanism;
the top surface of the shell is provided with a door capable of being opened and closed; the inner surface of the shell is provided with a black light absorption material layer to form a darkroom;
the bottom surface of the shell is open, a separating frame is connected on the bottom surface of the shell, and the bottom surface of the shell is divided into a left qualified product outlet and a right qualified product outlet; the navel orange loading mechanism is connected to the top of the separation frame;
the camera is arranged at the top of the inner ground of the shell and faces the navel orange placing position at the top of the navel orange loading mechanism; a light source is arranged on the navel orange loading mechanism, and faces to the navel orange placing position from bottom to top; the axis of the camera forms an acute angle with the horizontal plane;
the navel orange push-off mechanism comprises two paired navel orange push-off mechanisms, wherein the two paired navel orange push-off mechanisms are connected to the left side and the right side of the shell in a left-right mode and face the navel orange placing position;
the navel orange loading mechanism comprises a supporting shell, a roller, a tray, a light source, a rotating motor and a lifting driving mechanism;
the center of the tray is provided with a light transmission hole, the bottom of the tray is connected with a rotary drum with a hole at the top, the bottom surface of the rotary drum is connected with an output shaft of the rotating motor, and the main body of the rotating motor is connected to the separation frame; the light source is arranged in the rotary drum;
the lifting driving mechanism comprises a lifting motor and a lifting guide pillar; the lifting guide post is internally provided with a hollow part, and the rotary drum and the rotating motor are positioned in the hollow part; the lifting guide pillar is connected to the separation frame;
the inner wall of the support shell is in a spherical crown shape, and the surface of the inner wall is coated with a reflective material layer; the opening of the supporting shell is upward, a through hole is formed in the spherical crown, and the through hole is sleeved outside the lifting guide pillar; the lifting motor is connected to the outer wall of the support shell through a connecting mechanism; the side wall of the support shell is provided with the roller, the surface of the roller is provided with a flexible friction material layer, one part of the roller is arranged in the support shell through an opening on the support shell, and the other part of the roller is arranged outside the support shell; the rotation axis of the roller is parallel to the horizontal plane and is parallel to 1 tangent of a circle on the spherical crown. The driving motor of the roller can be directly connected with the outside of the support shell, the rotating shaft of the roller is connected with the outer wall of the support shell through a bearing, and the rotating shaft of the driving motor is connected with the rotating shaft of the roller through a transmission mechanism.
In this example, the coupling mechanism between elevator motor and the support shell outer wall includes: the guide rod, the guide block, the wedge-shaped sleeve and the pair of support rods are rotatably connected;
the wedge-shaped sleeve is a cylinder with a side wall provided with a bevel cut, and the plane of the bevel cut forms an acute angle with the axis of the cylinder; the bottom of the wedge-shaped sleeve is connected with a rotating shaft of the lifting motor, and the rotating axis of the rotating shaft is superposed with the axis of the wedge-shaped sleeve;
the guide block is provided with a through hole, and the guide rod penetrates through the through hole and moves up and down along the through hole; the guide block is connected to the lower part of the outer wall of the lifting guide column; the top of the guide rod is connected to the bottom of the support shell, the bottom end of the guide rod is provided with a chamfer, and the bottom end of the guide rod is in sliding fit with the side wall of a chamfer of the wedge-shaped sleeve through the chamfer; the wedge sleeve connecting column is connected to the bottom of the lifting guide pillar and used for supporting the wedge sleeve, and the wedge sleeve rotates around the wedge sleeve connecting column.
The top ends of the paired supporting rods are rotatably connected to the bottom of the supporting shell, and the bottom ends of the paired supporting rods are connected to the lower part of the outer wall of the lifting guide pillar;
the two pairs of supporting rods are symmetrical about the axis of the lifting guide column.
The tray is made of black rubber (black flannelette is attached to the surface of the tray); the tray is directly below the door.
The openable door comprises a door opening and a door plate, and the door plate is connected to the door opening in a sliding manner; the lateral surface outside the door opening is connected with a sliding rail, and the door plate is connected with a sliding block correspondingly connected with the sliding rail; a door opening motor is connected outside the door opening; a first guide rod is connected to a rotating shaft of the door opening motor, the tail end of the first guide rod is rotatably connected with a second guide rod, and the tail end of the second guide rod is rotatably connected to the door plate.
The navel orange pushing-off mechanism is connected to the outer wall of the shell through a connecting plate;
the navel orange pushing-off mechanism comprises a push rod and a push rod motor; the push rod penetrates through a through hole formed in the shell and extends into the shell, and the front end of the push rod is connected with a rubber disc; the upper and lower sides of the rear part of the push rod are respectively connected with an upper rack and a lower rack;
the main body of the push rod motor is connected to the rear side of the connecting plate, a rotating shaft of the push rod motor penetrates through a through hole in the connecting plate and extends to the front side of the connecting plate, and a driving gear is connected to the end part of the rotating shaft of the push rod motor; two driven gears are respectively connected to the upper side and the lower side of the driving gear, and rotating shafts of the driven gears are connected to the connecting plate through bearings; the rotating shaft of each driven gear is also connected with a half gear which acts synchronously, and the two plate half gears are respectively meshed with the upper rack and the lower rack.
The gyro wheel can be realized around 360 degrees of cross axle rotation, and the tray realizes that the navel orange is around 360 degrees of vertical axle rotation, and then realizes navel orange all-round rotation, guarantees that the navel orange can form images completely, and the rejection process of navel orange can be realized to flexible push rod guide arm mechanism.
Taking an automatic orange juice squeezing vending machine as an example, the use method of the device is described as follows:
1) the navel orange falls from the openable door onto the tray in the state of fig. 8 (initial state), and the door is closed;
2) the light source lamp is turned on, and the camera collects the spectrum picture of the No. 1 surface of the navel orange; finishing;
3) the bracket shell descends, the navel orange is separated from the interference of the roller, the bracket is rotated by a certain angle (the navel orange rotates by an angle along a vertical axis) under the driving of the rotating motor, the bracket shell is lifted, and after the whole machine is restored to the state of the step 2), the camera acquires the 2 nd surface spectrum picture of the navel orange; finishing;
4) repeating the step 3) until the required n-surface pictures are completely collected;
5) starting the roller to drive the navel orange to roll for an angle along a horizontal axis, and then acquiring a spectrum picture of the 1' surface of the navel orange by using the camera, and ending;
6) repeating the step 5) until the acquisition of the picture of the required n' surface is finished, and ending; the supporting shell descends, and the navel orange is exposed on the traveling paths of the two push rods;
7) judging whether the navel oranges are qualified according to the collected pictures, starting a push rod, pushing the navel oranges away from the tray, and enabling the navel oranges to fall into qualified products or unqualified products to be exported.
The steps 4) and 6) can be carried out according to the poor requirement of the acquisition surface.
In the process, the supporting shell with the specific shape structure forms the diffuse reflection dome in the process of collecting the picture. Meanwhile, the supporting shell has the function of expanding the loading space of the navel orange and avoiding the navel orange from falling accidentally.
In the embodiment, the camera deviates from the vertical rotation axis of the navel orange, and meanwhile, the roller is arranged on the side wall of the support shell and is opposite to the camera, so that the influence of the roller on diffuse reflection required by picture acquisition is reduced.
Has the advantages that: this device can load on market automatic juice extractor, and the required detection face picture is gathered to the rotation navel orange that can the multi-angle to the camera of being convenient for, provides basic assurance for the accuracy that detects to realize follow-up work of rejecting. The device can detect the defects of each navel orange before being peeled and processed.
In this example, the length, width and height of the housing are respectively: 30cm, 30cm and 35 cm. The distance between the push rod and the lower side of the outer shell is 18cm, the diameter of the rubber disc is 3cm, and the moving range of the rack is 0-12 cm. The longer of the support rod is 12cm, and the shorter is 6 cm. The door is in a convex arc shape. The distance between the bottom of the tray and the upper edge of the light source is 2-4 cm, and the diameter of the tray is 6 cm. The solution of the example is preferably used for navel oranges of common size (8-10 cm in diameter).
Claims (5)
1. An imaging acquisition device for omnibearing navel orange detection is characterized by comprising a shell, a camera, a light source, a navel orange loading mechanism and a navel orange pushing-separating mechanism;
the top surface of the shell is provided with a door capable of being opened and closed; the inner surface of the shell is provided with a black light absorption material layer to form a darkroom;
the bottom surface of the shell is open, a separating frame is connected on the bottom surface of the shell, and the bottom surface of the shell is divided into a left qualified product outlet and a right qualified product outlet; the navel orange loading mechanism is connected to the top of the separation frame;
the camera is arranged at the top of the inner ground of the shell and faces the navel orange placing position at the top of the navel orange loading mechanism; a light source is arranged on the navel orange loading mechanism, and faces to the navel orange placing position from bottom to top;
the navel orange push-off mechanism comprises two paired navel orange push-off mechanisms, wherein the two paired navel orange push-off mechanisms are connected to the left side and the right side of the shell in a left-right mode and face the navel orange placing position;
the navel orange loading mechanism comprises a supporting shell, a roller, a tray, a light source, a rotating motor and a lifting driving mechanism;
the center of the tray is provided with a light transmission hole, the bottom of the tray is connected with a rotary drum with a hole at the top, the bottom surface of the rotary drum is connected with an output shaft of the rotating motor, and the main body of the rotating motor is connected to the separation frame; the light source is arranged in the rotary drum;
the lifting driving mechanism comprises a lifting motor and a lifting guide pillar; the lifting guide post is internally provided with a hollow part, and the rotary drum and the rotating motor are positioned in the hollow part; the lifting guide pillar is connected to the separation frame;
the inner wall of the support shell is in a spherical crown shape, and the surface of the inner wall is coated with a diffuse reflection material layer; the opening of the supporting shell is upward, a through hole is formed in the spherical crown, and the through hole is sleeved outside the lifting guide pillar; the lifting motor is connected to the outer wall of the support shell through a connecting mechanism; the side wall of the support shell is provided with the roller, the surface of the roller is provided with a flexible friction material layer, one part of the roller is arranged in the support shell through an opening on the support shell, and the other part of the roller is arranged outside the support shell; the rotation axis of the roller is parallel to the horizontal plane and is parallel to 1 tangent of a circle on the spherical crown.
2. The imaging acquisition device for the omnibearing detection of the navel orange according to claim 1, wherein the connecting mechanism between the lifting motor and the outer wall of the supporting shell comprises: the guide rod, the guide block, the wedge-shaped sleeve and the pair of support rods are rotatably connected;
the wedge-shaped sleeve is a cylinder with a side wall provided with a bevel cut, and the plane of the bevel cut forms an acute angle with the axis of the cylinder; the bottom of the wedge-shaped sleeve is connected with a rotating shaft of the lifting motor, and the rotating axis of the rotating shaft is superposed with the axis of the wedge-shaped sleeve;
the guide block is provided with a through hole, and the guide rod penetrates through the through hole and moves up and down along the through hole; the guide block is connected to the lower part of the outer wall of the lifting guide column; the top of the guide rod is connected to the bottom of the support shell, the bottom end of the guide rod is provided with a chamfer, and the bottom end of the guide rod is in sliding fit with the side wall of a chamfer of the wedge-shaped sleeve through the chamfer;
the top ends of the paired supporting rods are rotatably connected to the bottom of the supporting shell, and the bottom ends of the paired supporting rods are connected to the lower part of the outer wall of the lifting guide pillar;
the two pairs of supporting rods are symmetrical about the axis of the lifting guide column.
3. The imaging acquisition device for the omnibearing detection of the navel orange according to claim 1, wherein the tray is made of black rubber; the tray is directly below the door.
4. The imaging acquisition device for the omnibearing detection of the navel orange according to claim 1, wherein the openable door comprises a door opening and a door plate, and the door plate is connected to the door opening in a sliding manner; the lateral surface outside the door opening is connected with a sliding rail, and the door plate is connected with a sliding block correspondingly connected with the sliding rail; a door opening motor is connected outside the door opening; a first guide rod is connected to a rotating shaft of the door opening motor, the tail end of the first guide rod is rotatably connected with a second guide rod, and the tail end of the second guide rod is rotatably connected to the door plate.
5. The imaging acquisition device for the omnibearing detection of the navel orange according to claim 1, wherein the navel orange pushing and separating mechanism is connected to the outer wall of the shell through a connecting plate;
the navel orange pushing-off mechanism comprises a push rod and a push rod motor; the push rod penetrates through a through hole formed in the shell and extends into the shell, and the front end of the push rod is connected with a rubber disc; the upper and lower sides of the rear part of the push rod are respectively connected with an upper rack and a lower rack;
the main body of the push rod motor is connected to the rear side of the connecting plate, a rotating shaft of the push rod motor penetrates through a through hole in the connecting plate and extends to the front side of the connecting plate, and a driving gear is connected to the end part of the rotating shaft of the push rod motor; two driven gears are respectively connected to the upper side and the lower side of the driving gear, and rotating shafts of the driven gears are connected to the connecting plate through bearings; the rotating shaft of each driven gear is also connected with a half gear which acts synchronously, and the two plate half gears are respectively meshed with the upper rack and the lower rack.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201920723606.6U CN209878582U (en) | 2019-05-20 | 2019-05-20 | Imaging acquisition device for omnibearing detection of navel oranges |
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| CN201920723606.6U CN209878582U (en) | 2019-05-20 | 2019-05-20 | Imaging acquisition device for omnibearing detection of navel oranges |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114210593A (en) * | 2021-12-09 | 2022-03-22 | 蒲丰(海宁)智能装备有限公司 | Spherical fruit vegetables sorting device |
| CN114850058A (en) * | 2022-06-10 | 2022-08-05 | 东华理工大学 | High-spectrum image processing-based defective product screening system and device |
-
2019
- 2019-05-20 CN CN201920723606.6U patent/CN209878582U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114210593A (en) * | 2021-12-09 | 2022-03-22 | 蒲丰(海宁)智能装备有限公司 | Spherical fruit vegetables sorting device |
| CN114850058A (en) * | 2022-06-10 | 2022-08-05 | 东华理工大学 | High-spectrum image processing-based defective product screening system and device |
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Granted publication date: 20191231 |