CN210059040U - Based on RGB fruit sorter - Google Patents

Abstract

The utility model discloses a based on RGB fruit sorter, comprising a base plate, a control box, and a support, the manipulator, fruit place the platform, a control box, and a support, manipulator and fruit place the platform all install at the bottom plate upside, main control unit is equipped with in the control box, human-computer interaction interface and power supply system, one side at fruit place the platform is fixed to the support, camera and RGB colour identification sensor are installed to the upper end of support, camera and RGB colour identification sensor are located fruit place the platform directly over, the manipulator can rotate and freely crooked distribution at another opposite side of fruit place the platform, fruit place the platform department still is equipped with pressure sensor, RGB colour identification sensor, the camera, human-computer interaction interface, manipulator and power supply system all are connected with main control unit. The utility model discloses categorised accurate, improve production efficiency and reduction in production cost.

Description

A RGB-based fruit classification device

technical field

The utility model relates to the field of image recognition, in particular to a RGB-based fruit classification device.

Background technique

At present, my country's main fruit output ranks first in the world, with a wide variety of varieties and high quality. With the strong support of the national agricultural support policy, the development of fruit has broad prospects, but the means of post-production fruit commercialization are still very backward, and the processes of classification and packaging need to be A lot of manpower and time, resulting in high cost and low economic benefits.

Due to the differences in the types and quality of fruits in my country and the grading business model of my country's fruit industry, fruit classification and grading of the same fruit are very necessary management methods. There are many kinds of fruits on the market, and the grades are also uneven, and each fruit is divided into multiple grades.

Take apples as an example. After picking apples, farmers need to divide them into different levels for sale according to their color, size, and quality. This classification uses manual selection, which wastes a lot of human resources and production time. Factors cannot be graded accurately. There are also some automatic fruit grade classification machines on the market, but most of them are classified by weight and diameter, and cannot be accurately divided into multiple grades. Color is one of the important indicators to measure the appearance quality of fruit. By detecting RGB components, identifying fruit color, and using it in conjunction with weight and diameter, more accurate classification can be achieved and economic benefits can be improved.

Food sorters are widely used in the fresh food market, mainly because of the aging of the labor force and the increasing cost of hiring workers. Manual inspection is extremely inefficient when inspecting products that look very similar. Their visual acuity becomes sluggish even when it only involves simple sorting tasks, which has prompted the increasing use of sorting technology in the market. Compared with manual sorting, the RGB-based fruit classification system will work better.

Utility model content

The purpose of the utility model is to provide a RGB-based fruit classification device, which is easy to operate, more accurate in classification, improves production efficiency, reduces production cost and improves economic benefits.

In order to achieve the above purpose, the utility model provides a fruit sorting device based on RGB, comprising: a base plate, a control box, a bracket, a manipulator, and a fruit placement platform, wherein the control box, the bracket, the manipulator and the fruit placement platform are all installed on the upper side of the base plate, and control the The box is equipped with a main controller, a human-computer interface and a power supply system. The bracket is fixed on one side of the fruit placing platform. The upper end of the bracket is equipped with a camera and RGB color recognition sensor. The camera and RGB color recognition sensor are located directly above the fruit placing platform. , the manipulator can rotate and bend freely and distribute on the opposite side of the fruit placing platform. The fruit placing platform is also equipped with a pressure sensor. The pressure sensor, RGB color recognition sensor, camera, human-computer interface, manipulator and power supply system are all connected with the main Controller connection.

As a further improvement of the present invention, the bracket includes a column and a horizontal arm extending from the upper end of the column toward the manipulator. The end of the horizontal arm expands outward to form a first mounting plate, and the bottom of the first mounting plate is equipped with the camera and the camera. RGB color recognition sensor.

As a further improvement of the present invention, two diagonal braces are connected between the two sides of the lower end of the vertical column and the bottom plate, and two diagonal braces are connected between the upper end of the vertical column and the horizontal arm.

As a further improvement of the present invention, the fruit placing platform includes a support column and a flat plate, the support column is connected between the bottom plate and the flat plate, and the pressure sensor is installed between the support column and the flat plate.

As a further improvement of the present invention, the manipulator includes a base that rotates along an axis in the vertical direction, the bottom of the base is equipped with a stepping motor that drives the base to rotate, a first connector is fixed on the upper side of the base, and the first connector is The upper end is hingedly connected with a second connecting piece that rotates along the axis in the horizontal direction, the upper end of the second connecting piece is hingedly connected with a third connecting piece that rotates along the axis in the horizontal direction, and the upper end of the third connecting piece is hingedly connected with a horizontal axis. The axis of the fourth connecting piece rotates, the axes of the second connecting piece, the third connecting piece and the fourth connecting piece are parallel to each other, the upper end of the fourth connecting piece is fixed with the second mounting plate, and the second mounting plate is mounted with a foldable Two clip fingers, the hinged position between the first connector and the second connector, the hinged position between the second connector and the third connector, the hinged position between the third connector and the fourth connector, and Servo motors for respectively driving the second connecting piece, the third connecting piece and the fourth connecting piece to rotate are installed on the second mounting plate, and both the stepping motor and the servo motor are connected to the main controller.

As a further improvement of the present invention, the first connector and the fourth connector are both U-shaped connectors, the openings of the first connector and the fourth connector are opposite to each other, and the second connector faces the upper and lower openings. The opposite and interconnected U-shaped connectors are formed. The third connector is composed of two upper and lower interconnected square blocks. The U-shaped connector located on the lower side of the second connector is sleeved outside the first connector, and the third connector is connected to each other. The upper and lower square blocks of the piece are respectively sheathed in the fourth connecting piece and the U-shaped connecting piece on the upper side of the second connecting piece.

As a further improvement of the present invention, one side of the mounting plate 2 is installed with two swing arms that can be opened and closed, the two swing arms are provided with teeth that mesh with each other, and the upper ends of the swing arms are hingedly connected to one of the clips. The middle part of each clip finger and the second mounting plate are hingedly connected by a diagonal strut-type link, the servo motor installed on the second mounting plate is located on the other side of the mounting plate two opposite to the swing arm, and the output shaft of the servo motor runs through The second mounting plate is connected with one of the swing arms.

Compared with the prior art, the beneficial effects of the RGB fruit classification device of the present invention are as follows:

(1) The utility model integrates functions such as color identification, weight weighing, size measurement, target positioning and fruit separation, and collects fruit color information through RGB color identification sensors, and the camera collects images to realize fruit size measurement and target positioning. The eigenvalue comparison is used to simplify the time of fruit classification, and the success rate of distinguishing fruits of the same kind of different shapes is greatly improved. The microcontroller is used to process various external information provided by the sensor system, and the stepping motor is driven according to the established algorithm to control the manipulator. Target separation, the software is based on the underlying driver of sensors and motors, with operation and data processing as the core, and the application of fruit grade separation to complete the established functions of the fruit separation system, which is easy to operate, control costs, and improve efficiency.

(2) The use of sensor identification and separation can eliminate the subjective consciousness of the staff and classify the fruit grades more accurately; through automatic separation, the speed of fruit separation can be accelerated, production efficiency can be improved, production costs can be reduced, and economic benefits can be improved; man-machine interface Adjust the classification parameters such as color, size, shape, etc., the classification system can be used to classify various fruits and vegetables, and realize the function of one machine with multiple functions.

(3) The utility model has the automatic line frequency self-adaptation ability and signal self-detection ability, the change of the signal source terminal does not require user adjustment, the target positioning is very accurate, and the intelligent manipulator is used for sorting, thereby realizing the intelligentization of fruits. Real-time detection and classification, and then subdivided and packaged, can realize unattended automatic assembly line operations.

The present invention will become clearer from the following description in conjunction with the accompanying drawings, which are used to explain embodiments of the present invention.

Description of drawings

Fig. 1 is the utility model RGB component detection circuit diagram;

Fig. 2 is the camera acquisition circuit diagram;

Figure 3 is a circuit diagram of human-computer interaction;

Fig. 4 is a motor drive circuit diagram;

Figure 5 is a power circuit diagram;

Figure 6 main controller circuit diagram

7 is a block diagram of the overall structure of the present utility model;

8 is a schematic diagram of the utility model based on RGB fruit classification device;

Figure 9 is a block diagram of the workflow.

Detailed ways

Embodiments of the present invention will now be described with reference to the accompanying drawings, in which like reference numerals represent like elements.

Please refer to Figure 1-9, the described RGB-based fruit classification method collects the four most representative external quality characteristics of fruit color, shape, weight and size, as the input data for fruit grade classification, and finally by the manipulator The classification outputs the result of the fruit grade. The fruit classification system can realize the classification by a single feature among the features of color, shape, weight and size, and can also set multiple reference features through the human-machine interface. The sorting speed of the manipulator 4 can be adjusted as needed to realize automatic sorting of fruits.

The specific implementation steps include:

(1) Detection of RGB components

The RGB components of the fruit surface are detected by the RGB color recognition sensor 11, the coloring degree of the fruit surface is detected, the color value of the image is obtained, and the color grading is performed by accumulating the percentage of the coloring area with the appropriate hue value. The color of the appearance of the fruit is the basis for judging the ripeness of the fruit, and it is the premise of fruit classification. The RGB component detection can accurately measure the color components of the fruit surface, which can be used for fruit grade evaluation, and can provide information for the actions of the manipulator 4 for fruit classification. RGB component detection can collect each component information of RGB module through AD circuit. The RGB color identification sensor 11 uses a TCS3200D color sensor to identify color components. TCS3200D is a programmable color light-to-frequency converter introduced by TAOS (Texas Advanced Optoelectronic Solutions). It integrates a configurable silicon photodiode and a current-to-frequency converter on a single CMOS circuit, and also integrates three red, green and blue (RGB) filters on a single chip. It is the industry's first digitally compatible Interface for RGB color sensor. The output signal of TCS3200D is digital and can drive standard TTL or CMOS logic input, so it can be directly connected with microprocessor or other logic circuits. Because the output is digital, and can realize the conversion accuracy of more than 10 bits per color channel, the AD conversion circuit is no longer needed, which makes the circuit simpler.

(2) Detection of fruit size

The image is collected by the camera 10, and the preprocessing includes gray-scale processing, appropriate threshold segmentation, morphological processing, edge detection, and then by extracting the image area points, calculating the image area, center of gravity, and perimeter characteristic parameters, so that the main control The device 7 can assess the size of the fruit. The fruit quality is also measured by the pressure sensor 12 at this step.

(3) Precise positioning of the target

According to step (2), the position of the fruit relative to the fruit placement platform 5 is calculated through edge detection and extraction of characteristic parameters of gravity center calculation, so as to accurately locate the fruit target and provide decision-making information for the action of the manipulator 4. Target positioning is used for the positioning of fruits on the assembly line and provides decision-making information for manipulator actions. The target positioning can adopt methods such as gravity sensing positioning, image recognition positioning, etc. Considering the problem of accuracy, the camera 10 image positioning is adopted.

(4) Realization of sorting motion

According to step (3), the manipulator 4 runs to the target position, and the fruits are sorted at different levels according to the results of steps (1) and (2). The manipulator is the guarantee for the separation of various types and grades of fruits, ensuring the accurate classification of fruits of all grades. This step also needs to be realized with the help of the human-computer interaction interface 8, and can also be further realized with the help of an external keyboard circuit and a computer-side host computer interface. Both the external keyboard circuit and the computer-side host computer interface are connected to the main controller 7, and the external keyboard circuit can be used in the machine Adjust the working parameters of the system in real time, and set the classification function; transfer the image captured by the camera 10 to the computer end for real-time display through the network port, and then enter the software to process the classification information, and then the computer end The upper computer generates a classification information table .

The RGB-based fruit classification device based on the RGB fruit classification method includes a base plate 1 , a control box 2 , a bracket 3 , a manipulator 4 , and a fruit placement platform 5 . The control box 2 , the bracket 3 , the manipulator 4 and the fruit placing platform 5 are all installed on the upper side of the base plate 1 . The bracket 3 is fixed on one side of the fruit placing platform 5 , and a camera 10 and an RGB color identification sensor 11 are installed on the upper end of the bracket 3 . The manipulator 4 can be rotated and freely bent and distributed on the other opposite side of the fruit placing platform 5. The fruit placing platform 5 is also equipped with a pressure sensor 12, the pressure sensor 12, the RGB color recognition sensor 11, the camera 10, the human-computer interaction interface 8, Both the manipulator 4 and the power supply system 9 are connected to the main controller 7 .

The bracket 3 includes a column 3a and a horizontal arm portion 3b extending from the upper end of the column 3a toward the manipulator. The end of the horizontal arm portion 3b is outwardly expanded to form a mounting plate-3c, and the bottom of the mounting plate-3c is equipped with the camera 10 and the camera. RGB color recognition sensor 11 . A diagonal brace 3d is connected between two sides of the lower end of the upright column 3a and the bottom plate 1, and a diagonal brace 2 3e is connected between the upper end of the upright post 3a and the horizontal arm portion 3b.

The manipulator 4 includes a base 4i that rotates along a vertical axis, the bottom of the base 4i is equipped with a stepping motor that drives the base 4i to rotate, a first connector 4a is fixed on the upper side of the base 4i, and the upper end of the first connector 4a A second connecting piece 4b that rotates along the axis of the horizontal direction is hingedly connected, the upper end of the second connecting piece 4b is hingedly connected to a third connecting piece 4c that rotates along the axis of the horizontal direction, and the upper end of the third connecting piece 4c is hingedly connected to The horizontal axis of the fourth connecting piece 4d rotates, the axis of rotation of the second connecting piece 4b, the third connecting piece 4c and the fourth connecting piece 4d are parallel to each other, and the upper end of the fourth connecting piece 4d is fixed with a mounting plate 2 4e. Two clip fingers 4f that can be opened and closed are installed on the second plate 4e, the hinged position between the first connecting piece 4a and the second connecting piece 4b, the hinged position between the second connecting piece 4b and the third connecting piece 4c, The hinged position between the third connecting piece 4c and the fourth connecting piece 4d and the second mounting plate 4e are installed with servo motors that drive the second connecting piece 4b, the third connecting piece 4c and the fourth connecting piece 4d to rotate respectively. Both the feeding motor and the servo motor are connected to the main controller 2, and the main controller 7 controls the stepping motor and the servo motor to rotate forward, reverse or stop through the feedback signals of the sensors (color recognition sensor 11, pressure sensor 12) and the camera 10, To realize the entire sorting process of the control robot 4. The first connecting piece 4a and the fourth connecting piece 4d are both U-shaped connecting pieces, the openings of the first connecting piece 4a and the fourth connecting piece 4d are opposite, and the second connecting piece 4b is connected to each other by the upper and lower openings facing oppositely. The third connecting piece 4c is composed of two upper and lower connected square blocks, the U-shaped connecting piece on the lower side of the second connecting piece 4b is sleeved outside the first connecting piece 4a, and the third connecting piece The upper and lower square blocks of 4c are respectively sheathed in the fourth connecting piece 4d and the U-shaped connecting piece on the upper side of the second connecting piece 4b. One side of the mounting plate 24e is mounted with two swing arms 4g that can be opened and closed, the two swing arms 4g are provided with teeth 4h that mesh with each other, and the upper ends of the swing arms 4g are hingedly connected to one of the clamping fingers 4f, and each The middle part of the clip finger 4f and the second mounting plate 4e are hingedly connected through the inclined support link 4j, the servo motor mounted on the second mounting plate 4e is located on the other side of the mounting plate two 4e opposite to the swing arm 4g and the servo motor The output shaft passes through the second mounting plate 4e and is connected to one of the swing arms 4g.

The fruit placing platform 5 includes a supporting column 5a and a flat plate 5b, the supporting column 5a is connected between the bottom plate 1 and the flat plate 5b, and the pressure sensor is installed between the supporting column 5a and the flat plate 5b.

The power supply system 9 is divided into two parts, the stepper motor and the servo motor controlling the manipulator 4 are powered by DC 24V, and the main controller 7 is powered by an adapter. The adapter outputs 12V voltage, which is regulated to 5V by the voltage regulator circuit of LM2940 to supply power to its main controller 7, peripheral sensors (color recognition sensor 11, pressure sensor 12) and camera 10 to ensure the stability of the circuit and the normal operation of its components.

The utility model integrates the functions of color identification, weight weighing, size measurement, target positioning, fruit separation, etc. The color information of the fruit is collected by the RGB color identification sensor, and the image is collected by the camera to realize the size measurement of the fruit and the target positioning. The controller) processes all kinds of external information provided by the sensor system, and drives the stepping motor to control the manipulator to separate the target according to the established algorithm. The software is based on the underlying drivers of sensors and motors, with operations and data processing as the core, and is applied in fruit grade separation to complete the predetermined functions of the fruit separation system. Ease of operation, cost control, and increased efficiency.

The present utility model has been described above with reference to the best embodiments, but the present utility model is not limited to the above disclosed embodiments, but should cover various modifications and equivalent combinations based on the essence of the present utility model.

Claims (7)

1. based on RGB fruit classification device, it is characterized in that, comprise: base plate, control box, support, manipulator, fruit placement platform, control box, support, manipulator and fruit placement platform are all installed on base plate upper side, and control box is equipped with The main controller, human-computer interaction interface and power supply system, the bracket is fixed on one side of the fruit placing platform, the upper end of the bracket is equipped with a camera and RGB color recognition sensor, the camera and RGB color recognition sensor are located directly above the fruit placing platform, the manipulator can The rotation and free bending are distributed on the opposite side of the fruit placing platform. The fruit placing platform is also equipped with a pressure sensor. The pressure sensor, RGB color recognition sensor, camera, human-computer interface, manipulator and power supply system are all connected with the main controller. . 2. fruit sorting device based on RGB as claimed in claim 1, is characterized in that: described support comprises upright column and the horizontal arm part that extends toward manipulator direction from upright post upper end, and the end of horizontal arm part expands outward to form mounting plate one, installs The bottom of the first board is equipped with the described camera and RGB color recognition sensor. 3. fruit sorting device based on RGB as claimed in claim 2, is characterized in that: be connected with diagonal brace one between the lower end both sides of described upright column and bottom plate, be connected with diagonal brace two between the upper end of upright column and horizontal arm part . 4. fruit sorting device based on RGB as claimed in claim 1, is characterized in that: described fruit placement platform comprises support column and flat plate, support column is connected between bottom plate and flat plate, and is equipped with described Pressure Sensor. 5. fruit sorting device based on RGB as claimed in claim 1, is characterized in that: described manipulator comprises the pedestal that rotates along the axis of vertical direction, the bottom of pedestal is equipped with the stepping motor that drives pedestal to rotate, and the upper side of pedestal is fixed There is a first connector, the upper end of the first connector is hingedly connected with a second connector that rotates along the axis of the horizontal direction, the upper end of the second connector is hingedly connected to a third connector that rotates along the axis of the horizontal direction, the third connector The upper end of the connecting piece is hingedly connected with a fourth connecting piece that rotates along the axis of the horizontal direction, the axes of rotation of the second connecting piece, the third connecting piece and the fourth connecting piece are parallel to each other, and the upper end of the fourth connecting piece is fixed with a mounting plate 2 , two clip fingers that can be opened and closed are installed on the second mounting plate, the hinged position between the first connecting piece and the second connecting piece, the hinged position between the second connecting piece and the third connecting piece, the third connecting piece The hinged position with the fourth connecting piece and the second mounting plate are equipped with servo motors that drive the second connecting piece, the third connecting piece and the fourth connecting piece to rotate respectively, and the stepper motor and the servo motor are both connected to the main control device. 6. The fruit sorting device based on RGB as claimed in claim 5, wherein the first connecting piece and the fourth connecting piece are both U-shaped connecting pieces, and the openings of the first connecting piece and the fourth connecting piece are opposite, The second connector is composed of two upper and lower openings facing oppositely and connected to each other. The third connector is composed of two mutually connected square blocks. Outside the first connecting piece, the upper and lower square blocks of the third connecting piece are respectively sheathed in the fourth connecting piece and the U-shaped connecting piece on the upper side of the second connecting piece. 7. The fruit sorting device based on RGB as claimed in claim 5, characterized in that: two swing arms that can be opened and closed are installed on one side of the second mounting plate, and the two swing arms are provided with teeth that mesh with each other, and each The upper end of the swing arm is hingedly connected to one of the clamping fingers, the middle of each clamping finger and the second mounting plate are hingedly connected by a diagonal braced link, and the servo motor installed on the second mounting plate is located on the second mounting plate relative to the swing arm. One side and the output shaft of the servo motor penetrates through the second mounting plate and is connected to one of the swing arms.

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