CN217797455U - Grading equipment - Google Patents
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- CN217797455U CN217797455U CN202222036849.7U CN202222036849U CN217797455U CN 217797455 U CN217797455 U CN 217797455U CN 202222036849 U CN202222036849 U CN 202222036849U CN 217797455 U CN217797455 U CN 217797455U
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Abstract
The utility model relates to a hierarchical technical field of fruit discloses a classification equipment, treats that hierarchical object gets into from the import of seal box, rolls out from the export of seal box through conveyer. First camera and second camera setting are in two not adjacent surface departments of seal box, and when treating hierarchical object and roll on the litter, first camera and second camera can gather and treat the omnidirectional surface information of hierarchical object. And the processor can analyze the size and the surface flaw condition of the object to be graded according to the surface information, thereby grading the object to be graded. By adopting the technical scheme, the two parallel sliding rods are used as the conveying device, the shielding area of the object to be classified is reduced as much as possible, and the cameras are arranged at the positions of two non-adjacent surfaces of the sealing box to collect the all-round surface information of the object to be classified. The scheme unifies the grading standards of the objects to be graded, saves human resources and avoids manual damage to the objects to be graded.
Description
Technical Field
The utility model relates to a hierarchical technical field of fruit especially relates to a grading plant.
Background
Fruit, referring to juicy plant fruit whose main taste is sweet and sour, is edible. The fruits not only contain rich vitamin nutrition, but also can promote digestion, and are widely eaten.
Good commodity grading can standardize commodities and implement premium price. For example, fruits can be classified, and products with plant diseases and insect pests and mechanical injuries can be removed, so that loss in storage can be reduced, and spread of plant diseases and insect pests is reduced. Fruit among the prior art is hierarchical mainly with artifical the grading, thereby judges the size and the surface flaw condition of fruit and realize grading through the manual work. The method wastes manpower resources, and classification is subjectively judged by a grader, so that classification standards are not uniform, and manual classification is easy to damage fruits.
Therefore, it is an urgent need for those skilled in the art to provide a unified classification standard, which can liberate human resources when classifying objects.
SUMMERY OF THE UTILITY MODEL
The utility model aims at providing a classification equipment for liberation manpower resources provides a unified classification standard when grading to the object.
In order to solve the above technical problem, the utility model provides a grading equipment, this equipment includes:
the device comprises a first camera, a second camera, a conveying device, a sealing box and a processor;
the sealing box is provided with an inlet and an outlet, and the position of the inlet is higher than that of the outlet;
the conveying device is connected with the inlet and the outlet and comprises two parallel sliding rods, the two sliding rods are hollow and used for conveying the objects to be classified from the inlet to the outlet;
the first camera and the second camera are respectively arranged on two non-adjacent surfaces of the sealing box so as to collect all-dimensional surface information of the object to be classified;
the processor is connected with the first camera and the second camera so as to grade the object to be graded according to the surface information acquired by the first camera and the second camera.
Preferably, the method further comprises the following steps:
a mechanical arm;
the mechanical arm is connected with the processor, and the processor controls the mechanical arm according to the grading result so as to sort the objects to be graded to corresponding positions.
Preferably, the method further comprises the following steps:
a suction cup;
the sucking discs are connected with the processor, and the processor controls the objects to be classified to be sorted to corresponding positions according to the classification result.
Preferably, the method further comprises the following steps:
a first infrared sensor;
the first infrared sensor is arranged at an inlet of the seal box and connected with the processor, so that when the object to be classified is detected to enter the seal box, information is output to the processor, and the processor controls the first camera and the second camera to acquire surface information of the object to be classified after preset time.
Preferably, the method further comprises the following steps:
buckling;
the buckle is arranged at the inlet of the seal box and connected with the processor, and the buckle is started by the processor when detecting that the object to be classified enters the seal box, so as to prevent other objects to be classified from entering the seal box.
Preferably, the method further comprises the following steps:
a second infrared sensor;
the second infrared sensor is arranged at an outlet of the seal box and connected with the processor, so that the processor controls the buckle to be closed when detecting that the object to be classified rolls out of the seal box.
Preferably, the first camera and the second camera are both cameras with flash lamps.
Preferably, the method further comprises the following steps:
a first light source and a second light source;
the first light source and the second light source are symmetrically arranged on two sides of the conveying device.
Preferably, the method further comprises the following steps:
a touch screen;
the touch screen is connected with the processor.
Preferably, the robot arm is a robot arm supporting 6 degrees of freedom.
The utility model provides a classification equipment treats that hierarchical object gets into from the import of seal box, rolls out from the export of seal box through conveyer. First camera and second camera setting are in two not adjacent surface departments of seal box, and when treating hierarchical object and roll on the litter, first camera and second camera can gather and treat the omnidirectional surface information of hierarchical object. And the processor can analyze the size and the surface flaw condition of the object to be graded according to the surface information, thereby grading the object to be graded. Compared with the prior art, the classification is carried out after the manual identification and judgment are carried out on the object to be classified, the technical scheme is adopted, the two parallel sliding rods are used as the conveying device, the shielding area of the object to be classified is reduced as far as possible, and the object to be classified entering the seal box is shot by the first camera and the second camera which are arranged at two non-adjacent surfaces of the seal box so as to acquire the all-dimensional surface information of the object to be classified. And processing the surface information through a processor so as to grade the object to be graded according to the size and the surface flaw condition of the object to be graded. The grading standards of the objects to be graded are unified, the manpower resources are saved, and the condition that the objects to be graded are damaged manually is also avoided.
Drawings
In order to illustrate the embodiments of the present invention more clearly, the drawings needed for the embodiments will be briefly described, it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained without inventive efforts.
Fig. 1 is a structural diagram of a classification apparatus according to an embodiment of the present invention;
fig. 2 is a structural diagram of a robot arm according to an embodiment of the present invention;
the reference numbers are as follows: the device comprises a sealing box 1, a sliding rod 2, a first camera 3, a second camera 4, an object to be classified 5, a first steering engine 6, a second steering engine 7, a third steering engine 8, a fourth steering engine 9, a fifth steering engine 10 and a sixth steering engine 11.
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, the ordinary skilled in the art can obtain all other embodiments without creative work, which all belong to the protection scope of the present invention.
The core of the utility model is to provide a classification equipment for liberation manpower resources provides a unified classification standard when grading to the object.
In order to make the technical field better understand the solution of the present invention, the following detailed description of the present invention is provided with reference to the accompanying drawings and the detailed description.
Fig. 1 is a structural diagram of a classification device provided by an embodiment of the present invention, as shown in fig. 1, the device includes:
the system comprises a first camera 3, a second camera 4, a conveying device, a sealing box 1 and a processor;
the sealing box 1 is provided with an inlet and an outlet, and the position of the inlet is higher than that of the outlet;
the conveying device is connected with the inlet and the outlet and comprises two sliding rods 2 which are arranged in parallel, the two sliding rods 2 are hollow, and the conveying device is used for conveying the object 5 to be classified from the inlet to the outlet;
the first camera 3 and the second camera 4 are respectively arranged at two non-adjacent surfaces of the seal box 1 so as to collect all-directional surface information of the object 5 to be classified;
the processor is connected with the first camera 3 and the second camera 4 so as to grade the object 5 to be graded according to the surface information collected by the first camera 3 and the second camera 4.
In this embodiment is through the surface information of the object 5 of waiting to grade of camera collection, in order to guarantee the uniformity of camera shooting environment, in concrete implementation, seal box 1 comprises the aluminum alloy section bar, and black light-resistant material is adopted on the surface, waits that hierarchical object 5 passes through seal box 1 through litter 2, and the camera is waiting that hierarchical object 5 slides on litter 2 in-process to shoot. The objects 5 to be classified in this embodiment are generally fruits such as apples, ponkans and the like, and the distance between the two slide bars 2 should ensure that the objects 5 to be classified do not fall off during rolling because of the difference in the kind and size of the objects 5 to be classified. It will be appreciated that the speed of rolling of the objects 5 to be graded in this embodiment is dependent on the degree of tilt of the slide bar 2, and that in this embodiment control of the degree of tilt of the slide bar 2 is achieved by having the inlet of the seal box 1 higher than the outlet, and in other embodiments the degree of tilt of the conveyor is adjusted when the inlet and outlet are at the same height. Also, the degree of tilt of the slide bar 2 cannot be too large in order to ensure that the photographed picture is clear. The conveying device in this embodiment is used for conveying the objects to be classified from the inlet to the outlet of the sealed box 1 so as to shoot when the objects 5 to be classified are in the sealed box 1, and the conveying device in this embodiment may be physically connected with the inlet and the outlet of the sealed box 1, or may be a passage connecting the inlet and the outlet through the inlet and the outlet. In the configuration shown in fig. 1, the slide rod 2 does not contact the seal box 1, but passes through the inlet and the outlet.
It will be appreciated that in this embodiment two parallel hollow rods 2 are used as the conveyor to minimize the surface shading of the object 5 to be graded. The two cameras in this embodiment are mounted on two non-adjacent faces of the seal box 1 to photograph the surface information of the object 5 to be classified in a full angle.
In specific implementation, the processor in this embodiment is a raspberry type, surface information acquired by a camera is analyzed by using OpenCV, and OpenCV is a cross-platform computer vision and machine learning software library based on BSD licensing and can be run on Linux, windows, android, and Mac OS operating systems. Interfaces of languages such as Python, ruby, MATLAB and the like are provided, and a plurality of general algorithms in the aspects of image processing and computer vision can be realized. The size and the degree of surface flaws of the object 5 to be classified are discriminated by the surface information, and the classification of the object 5 to be classified is realized.
The embodiment of the utility model provides a grading equipment treats that hierarchical object gets into from the import of seal box, rolls out from the export of seal box through conveyer. First camera and second camera setting are in two non-adjacent face departments of seal box, and when treating hierarchical object and roll on the litter, first camera and second camera can gather and treat hierarchical object omnidirectional surface information. And the processor can analyze the size and the surface flaw condition of the object to be classified according to the surface information, so that the object to be classified is classified. Compared with the prior art, the classification is carried out after the manual identification and judgment are carried out on the object to be classified, the technical scheme is adopted, the two parallel sliding rods are used as the conveying device, the shielding area of the object to be classified is reduced as far as possible, and the object to be classified entering the seal box is shot by the first camera and the second camera which are arranged at two non-adjacent surfaces of the seal box so as to acquire the all-dimensional surface information of the object to be classified. And processing the surface information through a processor so as to grade the object to be graded according to the size and the surface flaw condition of the object to be graded. The grading standards of the objects to be graded are unified, the manpower resources are saved, and the condition that the objects to be graded are damaged manually is avoided.
The grading device described in the above embodiment implements the grading of the objects 5 to be graded, and in particular, in order to implement an automated process of fruit grading, in this embodiment, the grading device further includes:
a mechanical arm;
the mechanical arm is connected with the processor, and the processor controls the mechanical arm according to the grading result so as to sort the objects 5 to be graded to the corresponding positions.
The mechanical arm is a complex system with high precision, multiple inputs and multiple outputs, high nonlinearity and strong coupling. Fig. 2 is a structure diagram of a mechanical arm provided by the embodiment of the present invention, as shown in fig. 2, the mechanical arm includes 6 steering engines, which can realize 6 degrees of freedom motion, improve the flexibility of motion, enlarge the working space range, and can flexibly bypass obstacles. Wherein, the big arm of arm is constituteed jointly to No. one steering wheel 6 and No. two steering wheels 7, and No. three steering wheels 8 and No. four steering wheels 9 constitute the forearm of arm, and No. five steering wheels 10 and No. six steering wheels 11 constitute the manipulator of arm. In this embodiment, the object 5 to be classified is rolled out of the seal box 1 by the slide rod 2 and then is transferred to the target position, and the processor controls the mechanical arm to pick up the object 5 to be classified at the target position through the PWM control module and places the object 5 to a designated place according to the classification result.
According to the embodiment, the mechanical arm is used for placing the object to be classified into the designated place, so that the automatic flow of classification is realized.
In specific implementation, there may be a situation of damage to the fruit being transported by the robotic arm, and therefore, the grading apparatus in this embodiment further comprises:
a suction cup;
the suction cups are connected with the processor, and the processor controls the suction cups according to the grading result so as to sort the objects 5 to be graded to corresponding positions.
Use sucking disc transportation fruit to realize placing in grades in this embodiment to avoid treating hierarchical object and cause the damage when the transportation.
It will be appreciated that the camera in this embodiment is taken during the rolling of the object 5 to be graded in the sealed box 1 and the processor analyses the pictures taken. The two cameras in this embodiment have realized the omnidirectional shooting of the object 5 to be classified, and in order to save energy consumption, the two cameras only need to respectively shoot a picture of the object 5 to be classified at the same time. In order to ensure that the camera can accurately photograph the object 5 to be graded, on the basis of the above embodiment, in this embodiment, the grading apparatus further includes:
a first infrared sensor;
the first infrared sensor is arranged at an inlet of the seal box 1 and connected with the processor to output information to the processor when detecting that the object 5 to be classified enters the seal box 1, so that the processor controls the first camera 3 and the second camera 4 to collect surface information of the object 5 to be classified after preset time.
The first infrared sensor in the embodiment is installed at an inlet of the seal box 1 and connected with the processor, and the processor controls the camera to shoot after a certain time delay after detecting that the object 5 to be classified enters the seal box 1, so that all the objects 5 to be classified are shot accurately.
According to the embodiment, the time for the object to be classified to enter the seal box is identified through the first infrared sensor, and the time is fed back to the processor, so that the processor sets a certain time delay to control the camera to shoot after the object to be classified rolls to a preset position, and the two cameras can respectively shoot a picture to acquire all surface information of the object to be classified.
In the specific implementation, there should be a plurality of objects to be classified, which are limited by the shooting area of the camera and the analysis capability of the processor, in order to ensure the accuracy of the classification, only one object 5 to be classified can be classified by one picture, and therefore, only one object 5 to be classified needs to be ensured to enter the sealed box 1 for shooting, on the basis of the above embodiment, in the present embodiment, the method further includes:
buckling;
the buckle is arranged at the inlet of the sealing box 1 and is connected with the processor, and the buckle is started by the processor when detecting that the object 5 to be classified enters the sealing box 1, so as to prevent other objects 5 to be classified from entering the sealing box 1.
This embodiment is through installing the buckle at the seal box import, realizes the control to the object of treating classification that gets into the seal box, and after the treater detected an object of treating classification through first infrared ray sensor and got into the seal box, can control the buckle and start to get into in order to prevent other object of treating classification to guarantee to only shoot the photo of an object of treating classification.
In the above embodiment, the processor controls the buckle to start to ensure that only one object 5 to be classified is photographed in the seal box 1, and the buckle may be controlled to close after a certain time is set according to the rolling speed of the object 5 to be classified, so as to classify the next object 5 to be classified. And because the object 5 to be classified has different sizes and weights, which affect the rolling speed, the processor can not control only one object 5 to be classified in the sealing box 1 completely through the fixed time control buckle closing, therefore, in this embodiment, the classifying device further comprises:
a second infrared sensor;
the second infrared sensor is arranged at the outlet of the sealing box 1 and is connected with the processor, so that the processor controls the buckle to be closed when detecting that the object 5 to be classified rolls out of the sealing box 1.
The embodiment detects the time when the object to be classified rolls out of the sealing box through the second infrared sensor, so that the processor controls the buckle to be closed to put in the next object to be classified for classification.
In the concrete implementation, in order to guarantee the unity of shooting environment often use black light-resistant material packing seal box 1, and the not enough picture that can make the camera shoot of the light in seal box 1 is unclear, and the light that sees through seal box 1 import and export is not enough to supply light.
Therefore, on the basis of the above-described embodiment, in the present embodiment, the first camera 3 and the second camera 4 are both cameras with flash.
The camera in this embodiment is a camera with a flash lamp, and light is supplemented when shooting, so that the definition of shot pictures is improved.
Besides using a flash lamp as a light supplement device, a fixed light source can be placed in the seal box 1 for light supplement. In this embodiment, the classification device further includes:
a first light source and a second light source;
the first light source and the second light source are symmetrically arranged on two sides of the conveying device.
In this embodiment, use fixed luminous light source to carry out the light filling, in order to guarantee the even and unanimous of light filling, realize better light filling effect, two light source symmetries set up in conveyer both sides.
On the basis of the above embodiment, in this embodiment, the classification device further includes:
a touch screen;
the touch screen is connected with the processor.
The touch screen in this embodiment is connected to the processor, and can receive information fed back by the processor and display a picture taken by the camera and a final grading result. Similarly, the touch screen is also used as a man-machine interaction device to realize the control of the classification process by technicians, such as the control of starting and stopping.
The above is a detailed description of the classification device provided by the present invention. The embodiments are described in a progressive manner in the specification, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other. The device disclosed by the embodiment corresponds to the method disclosed by the embodiment, so that the description is simple, and the relevant points can be referred to the method part for description. It should be noted that, for those skilled in the art, without departing from the principle of the present invention, the present invention can be further modified and modified, and such modifications and modifications also fall within the scope of the appended claims.
It is further noted that, in the present specification, relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrases "comprising a," "8230," "8230," or "comprising" does not exclude the presence of additional like elements in a process, method, article, or apparatus that comprises the element.
Claims (10)
1. A grading apparatus, comprising:
the device comprises a first camera, a second camera, a conveying device, a sealing box and a processor;
the sealing box is provided with an inlet and an outlet, and the position of the inlet is higher than that of the outlet;
the conveying device is connected with the inlet and the outlet and comprises two parallel sliding rods, the two sliding rods are hollow and used for conveying the objects to be classified from the inlet to the outlet;
the first camera and the second camera are respectively arranged on two non-adjacent surfaces of the sealing box so as to collect all-dimensional surface information of the object to be classified;
the processor is connected with the first camera and the second camera so as to grade the object to be graded according to the surface information acquired by the first camera and the second camera.
2. The classification device as claimed in claim 1, further comprising:
a mechanical arm;
the mechanical arm is connected with the processor, and the processor controls the mechanical arm according to the grading result so as to sort the objects to be graded to corresponding positions.
3. The classification device according to claim 1, further comprising:
a suction cup;
the sucking discs are connected with the processor, and the processor is controlled according to the grading result to sort the objects to be graded to corresponding positions.
4. The classification device according to any one of claims 1 to 3, further comprising:
a first infrared sensor;
the first infrared sensor is arranged at an inlet of the seal box and connected with the processor, so that when the object to be classified is detected to enter the seal box, information is output to the processor, and the processor controls the first camera and the second camera to acquire surface information of the object to be classified after preset time.
5. The classification device as claimed in claim 4, further comprising:
buckling;
the buckle is arranged at the inlet of the seal box and connected with the processor, and the buckle is started by the processor when detecting that the object to be classified enters the seal box, so as to prevent other objects to be classified from entering the seal box.
6. The classification device as claimed in claim 5, further comprising:
a second infrared sensor;
the second infrared sensor is arranged at an outlet of the seal box and connected with the processor, so that the processor controls the buckle to be closed when detecting that the object to be classified rolls out of the seal box.
7. The grading device of claim 6, wherein the first camera and the second camera are both cameras with flash lights.
8. The classification device of claim 6, further comprising:
a first light source and a second light source;
the first light source and the second light source are symmetrically arranged on two sides of the conveying device.
9. The classification device according to claim 1, further comprising:
a touch screen;
the touch screen is connected with the processor.
10. The grading apparatus of claim 2, wherein the robotic arm is a 6 degree-of-freedom robotic arm.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202222036849.7U CN217797455U (en) | 2022-08-03 | 2022-08-03 | Grading equipment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202222036849.7U CN217797455U (en) | 2022-08-03 | 2022-08-03 | Grading equipment |
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| Publication Number | Publication Date |
|---|---|
| CN217797455U true CN217797455U (en) | 2022-11-15 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
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| CN202222036849.7U Active CN217797455U (en) | 2022-08-03 | 2022-08-03 | Grading equipment |
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| CN (1) | CN217797455U (en) |
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2022
- 2022-08-03 CN CN202222036849.7U patent/CN217797455U/en active Active
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