CN2587534Y - Machine vision based fruit sorting machine - Google Patents
Machine vision based fruit sorting machine Download PDFInfo
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- CN2587534Y CN2587534Y CN 02295073 CN02295073U CN2587534Y CN 2587534 Y CN2587534 Y CN 2587534Y CN 02295073 CN02295073 CN 02295073 CN 02295073 U CN02295073 U CN 02295073U CN 2587534 Y CN2587534 Y CN 2587534Y
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Abstract
The utility model discloses a fruit sorting machine based on machine vision. A conveying device and a sorting device are both composed of two chainwheels and chains circled on the chainwheels. Dynamic force is inputted on the sorting device from outside, and is synchronously transferred to the conveying device by the sorting device. An encoder which is arranged on the conveying device is connected with an image grabbing card arranged in a computer through a conducting wire. An illumination box is arranged above the conveying device. A video camera which is positioned in the illumination box is connected with the image grabbing card through a cable. The computer is connected with a shift register group through a parallel port, and the shift register group is connected with a sorting mechanism arranged on the sorting device through a respective sorting mechanism controller. A discharge port which is arranged below the sorting device is corresponding to the sorting mechanism. Software in the computer can carry out sorting treatment for fruit image, and can control the action of a sorting control mechanism in real time according to treatment results. The utility model can utilize shift registers to synchronously track and realize automatic sorting according to the external characteristics of fruit sizes, epidermis colors, surface blemishes, fruit shapes, surface flatness, etc., and the detecting process of the utility model is non-destructive detection.
Description
Technical field
The utility model relates to a kind of fruit grading machine based on machine vision.
Background technology
At present, the processing horizontal in postpartum of China's fruit is also very low, and the nulliparity post processing is just directly gone on the market behind most of fruit picking, has influenced the commodity value of fruit.Also there are some fruit to be judged by artificial and naked eyes identification according to the integrality of its maturity, blemish, carpopodium and the classification of classification indexs such as size, weight, thereby the classification of fruit has bigger subjectivity, efficient is quite low, has greatly hindered the development of Chinese national economy and the raising of farmers' income.Existing fruit grading equipment mainly is by one or two indexs such as the weight of fruit and sizes, the former adopts modes such as sieve aperture, cylinder gap to carry out, the latter mainly is the equipment that utilizes electronic scale, dynamic balance support to carry out classification, this kind equipment can't classification to the fruit that has blemish, fruit shape uniqueness, and has in the classification process deficiency such as easy damaged fruit surface.
Summary of the invention
The purpose of this utility model provides a kind of shift register that utilizes and follows the tracks of the machine of realizing automatic classification synchronously, and testing process is the fruit grading machine based on machine vision of Non-Destructive Testing.
The technical solution of the utility model is as follows: comprise encoder, conveying device, lighting box, video camera, computer, image pick-up card, several shift register group are with the classification mechanism controller of shift register group corresponding number, classification mechanism, grading plant, discharging opening, fruit grading software.1) conveying device and grading plant are formed by two sprocket wheels and two chains that are looped around on the sprocket wheel, and power is input on the grading plant by the outside, synchronously is delivered on the conveying device by grading plant again; 2) encoder is installed on the conveying device, links to each other with image pick-up card in being installed in computer by lead; 3) lighting box is installed in the conveying device top; The position for video camera links to each other with image pick-up card by cable in lighting box; 4) computer links to each other with shift register group by LPT, and several shift register group link to each other with classification mechanism on being installed in grading plant by classification mechanism controller separately; 5) discharging opening is installed in the grading plant below, and corresponding with classification mechanism; In computer-internal, be provided with the fruit grading software of handling fruit image.
The fruit grading software of installing on computers can carry out the classification processing to fruit image, and control the action of grading control mechanism in real time according to result, make fruit carry out automatic classification by surfaces such as fruit size, epidermis color, blemish, fruit shape, surface flatnesses.
The beneficial effects of the utility model are: can utilize shift register to follow the tracks of synchronously by surfaces such as fruit size, epidermis color, blemish, fruit shape, surface flatnesses and realize automatic classification, and testing process is Non-Destructive Testing.
Description of drawings
Fig. 1 is a structural principle block diagram of the present utility model;
Fig. 2 is the grading plant schematic diagram;
Fig. 3 is that fruit image is handled and the classification process schematic diagram;
Fig. 4 is shift-register circuit figure;
Fig. 5 is classification mechanism controller circuitry figure;
Fig. 6 is the operating position schematic diagram that classification mechanism opens the door and closes the door;
Fig. 7 is the time sequence status figure of classification mechanism controller work.
The specific embodiment
As shown in Figure 1, it comprises encoder 1, conveying device 2, lighting box 3, video camera 4, computer 5, image pick-up card 6, shift register group 7 is with the classification mechanism controller 8 of shift register group corresponding number, classification mechanism 9, grading plant 10, discharging opening 11, fruit grading software 12; Conveying device 2 and grading plant 10 are formed by two sprocket wheels and two chains that are looped around on the sprocket wheel, and power is input on the grading plant 10 by the outside, synchronously is delivered on the conveying device 2 by grading plant 10 again; Encoder 1 is installed on the conveying device, links to each other with image pick-up card 6 in being installed in computer by lead; Lighting box 3 is installed in the conveying device top; Video camera 4 is positioned at lighting box, links to each other with image pick-up card 6 by cable; Computer 5 links to each other with shift register group 7 by LPT, and shift register group 7 links to each other with classification mechanism 9 on being installed in grading plant 10 by classification mechanism controller 8 separately; Discharging opening 11 is installed in grading plant 10 belows, and corresponding with classification mechanism 9; In computer 5 inside, be provided with the fruit grading software 12 of handling fruit image.
The fruit grading software that is installed on the computer 5 can carry out the classification processing to fruit image, and control the action of grading control mechanism in real time according to result, make fruit carry out automatic classification by surfaces such as fruit size, epidermis color, blemish, fruit shape, surface flatnesses.
Shown in Fig. 2 a, Fig. 2 b, grading plant 10 is by sprocket wheel 10.1, hopper 10.2, and guide rail 10.3, guide plate 10.5, chain 10.6 is formed; Guide rail 10.3 segmentations are installed on the grading plant 10, and hopper 10.2 is installed on the chain 10.6, and the sliding axle 10.4 of hopper 10.2 can be free to slide on guide rail 10.3, and classification mechanism 9 is filled up the breach of guide rail 10.3, and guide plate 10.5 is installed in classification mechanism 9 belows.
Shown in Fig. 6 a, Fig. 6 b, mechanical classification mechanism 9 is by ledger-plate 9.1, cutting blade 9.2, and little axle 9.3, driving lever 9.4, stator 9.5, stator winding I9.6, stator winding II9.7, spacer pin I9.8, rotating shaft 9.9, spacer pin II9.10, rotor 9.11; Cutting blade 9.2 is installed in ledger-plate 9.1 by little axle 9.3, can rotate around little axle 9.3, stator 9.5 is installed on the ledger-plate 9.1, rotor 9.11 is installed on the stator 9.5 by rotating shaft 9.9, rotor 9.11 can 9.9 rotate around the shaft, and driving lever 9.4 is fixed on rotating shaft 9.9, can 9.9 rotate around the shaft with rotor 9.11, stator winding I9.6 and stator winding II9.7 are fixed on the stator 9.5, and spacer pin I9.8 and spacer pin II9.10 are fixed on the stator.
As shown in Figure 4, shift register group comprises shift register A1, A31, A32, A33, data selector A21, A22, A23, resistance and switch; Shift register A1 adopts 74LS164, and shift register A31～A33 adopts 4006, and data selector A21～A23 is 4512.
Shift register A1, A31, A32, the clock signal of A33 is produced by encoder 1, and the control end A of shift register A1, B and C are connected on an end of power positive end and switch SW 1, the other end ground connection of switch SW 1 respectively by resistance R 1～R3; Data selector A21, the control end A of A22, B links to each other with C is corresponding, and is connected on an end of power positive end and switch SW 2 respectively by resistance R 4～R6, the other end ground connection of switch SW 2; Output Q0～Q7 of shift register A1 links to each other with data input pin X0～X7 of data selector A21 respectively.
The data output end Z of data selector A21 links to each other with the data input pin D1 of shift register A31.
The data output end Q4 of shift register A31 links to each other with the data input pin DI0 of self, data output end Q13 links to each other with its data input D5, data output end Q9 links to each other with the data input pin X0 of its data input D14 and data selector A22 respectively, data output end Q18 links to each other with the data input pin D5 of shift register A32 and the data input pin X1 of data selector A22 respectively, and data output end Q8 links to each other with X1 with the data input pin X0 of data selector A23 respectively with data output end Q17.
The data output end Q9 of shift register A32 links to each other with the data input pin X2 of its data input D14 and data selector A22 respectively, data output end Q18 links to each other with the data input pin D5 of shift register A33 and the data input pin X3 of data selector A22 respectively, and data output end Q8 links to each other with X3 with the data input pin X2 of data selector A23 respectively with data output end Q17.
The data output end Q9 of shift register A33 links to each other with the data input pin X4 of its data input D14 and data selector A22 respectively, data output end Q18 links to each other with the data input pin D5 of shift register A33 and the data input pin X5 of data selector A22 respectively, and data output end Q8 links to each other with X5 with the data input pin X4 of data selector A23 respectively with data output end Q17.
As shown in Figure 5, the classification mechanism controller mainly comprises monostable flipflop A4A, A4B, and phase inverter A8A, A8B is with door A7A, A7B.Monostable flipflop A4A, A4B adopts 4528, and phase inverter adopts 4069, adopts 4081 with door.
The triggering input A of monostable flipflop A4A is connected on the encoder 1, B termination high level, output Q links to each other with the triggering input B of monostable flipflop A4B and the negative pole of diode D4 respectively, the triggering input A ground connection of monostable flipflop A4B, and output Q is connected on the negative pole of diode D1.
The data output end Z output signal M2 of data selector A22 connects the input of phase inverter A8A, the input of phase inverter A8A is connected on an input with door A7A, the data output end Z output signal M1 of data selector A23 be connected on the door A7A another input, with door A7A output be connected on the clear terminal CLR of monostable flipflop A4A.
The data output end Z output signal M1 of data selector A23 connects the input of phase inverter A8B, the input of phase inverter A8B is connected on an input with door A7B, the data output end Z output signal M2 of data selector A22 be connected on the door A7B another input, with door A7B output be connected on the clear terminal CLR of monostable flipflop A4B.
The positive pole of diode D1 links to each other with the positive pole of diode D2, and be connected on positive source by resistance R 9, the negative pole of diode D2 is connected on the base stage of triode T1, the emitter stage of triode T1 is connected in the base stage of triode T2, the colelctor electrode of triode T2 is connected on positive source by stator winding I9.6, diode D3 negative pole is connected on positive source, and I9.6 is in parallel with stator winding.
The positive pole of diode D4 links to each other with the positive pole of diode D5, and be connected on positive source by resistance R 13, the negative pole of diode D5 is connected on the base stage of triode T3, the emitter stage of triode T3 is connected in the base stage of triode T4, the colelctor electrode of triode T4 is connected on positive source by stator winding II9.7, diode D6 negative pole is connected on positive source, and I9.7 is in parallel with stator winding.
By shift register group 7, classification mechanism controller 8, classification mechanism 9 constitutes a group, and the required level data of its number and fruit grading are corresponding.By by-pass cock SW1 and SW2, can make the data output of shift register group 7 corresponding with corresponding fruit rank.
During work, fruit is transported in the lighting box 3 by conveying device 2, and for the camera acquisition image, in conveying device 2 motion processes, encoder 1 produces synchronizing signal CP, and this signal outputs to image pick-up card 6 and shift register group 7 respectively.Be transported to the triggering signal of the synchronizing signal CP of image pick-up card as computer 5 collection images, the synchronizing signal CP that is transported to shift register group 7 makes that then as the clock signal of shift register group 7 data in the shift register group 7 are corresponding with the fruit position.When fruit moves to certain position, encoder 1 produces synchronizing signal and triggers video camera 4 by image pick-up card 6 and begins sampling, and the signal of collection passes through coaxial cable input picture capture card 6, and then imports computer 5 into, carry out a series of processing by computer 5, the process of processing is seen Fig. 2.Computer 5 results are by LPT input shift register group 7.Handle in the process of image at computer 5, conveying device 2 continues to move ahead, do not hold at it fruit is transferred on the grading plant 10, when fruit moves to certain classification position on mechanism's grading plant 10, the corresponding data position of shift register group 7 also arrives corresponding position, if this fruit belongs to this rank, the then synchronizing signal acting in conjunction of the data-signal of shift register group 7 and encoder 1 generation, make classification mechanism controller 8 generate a pulse, this pulse is transported to the stator winding I9.1 of classification mechanism 9 after power amplification, stator 9.5 internal magnetic fields change, promote rotor 9.11 and be rotated counterclockwise, drive driving lever 9.4 and rotate counterclockwise, cutting blade 9.2 loses support, under the gravity effect, turn clockwise, the breach of guide rail 10.3 is opened, and the fruit hopper slides along ledger-plate, when arriving to a certain degree, the upset of hopper makes fruit from wherein rolling out, and carries out discharging opening 11 along guide plate 10.5.Closing by 8 time-delays of classification mechanism controller of classification door finished, after the breach of guide rail 10.3 was opened, classification mechanism controller 8 triggers were at b point shown in Figure 7, the trailing edge of A4A pulse triggers A4B and produces a pulse, this signal makes stator winding I9.1 energising after power amplification, change the internal magnetic field of stator 9.5 once more, promoting rotor 9.11 turns clockwise, and then drive driving lever 9.4 and turn clockwise, cutting blade 9.2 is propped up the breach of rail closure 10.3.
The processing procedure of 5 pairs of fruit images of computer as shown in Figure 3, fruit is through behind the IMAQ, carry out image rectification again, through a series of image conversion, can carry out a series of individual events such as size detection, SHAPE DETECTION, color detection, defects detection, surface flatness detects, obtain each individual event testing result, these results are as the value parameter input of diversity module.Form grading criterion together by fruit grading national standard and fruit database, user's man-machine interface, before machine works, deposit diversity module in as parameter, diversity module is carried out classification according to the detected fruit external behavior of previous step parameter to fruit, classification results forms the grading control signal, the action of this control signal control fruit grading mechanism makes fruit carry out corresponding discharging opening 11.
The classification process of diversity module is: according to grading criterion, the every index of the fruit of different stage can be represented by a concrete numerical value, diversity module detects the data that obtain according to each detection module to current fruit, compare respectively with desired values at different levels, can obtain every index which rank respectively, get the rank that one-level minimum in these indexs should belong to as current fruit.For example, a certain fruit has 3 indexs all to be in 1 grade, only has an index to be in 2 grades, and then this fruit belongs in 2 grades.
Claims (5)
1. fruit grading machine based on machine vision, it is characterized in that: it comprises encoder (1), conveying device (2), lighting box (3), video camera (4), computer (5), image pick-up card (6), shift register group (7), with the classification mechanism controller (8) of shift register group corresponding number, classification mechanism (9), grading plant (10), discharging opening (11), fruit grading software (12); 1) conveying device (2) and grading plant (10) are formed by two sprocket wheels (10.1) and two chains (10.6) that are looped around on the sprocket wheel, power is input on the grading plant (10) by the outside, synchronously is delivered on the conveying device (2) by grading plant (10) again; 2) encoder (1) is installed on the conveying device (2), by lead be installed in computer in the image pick-up card (6) of (5) link to each other; 3) lighting box (3) is installed in conveying device (2) top; Video camera (4) is positioned at lighting box (3), links to each other with image pick-up card (6) by cable; 4) computer (5) links to each other with shift register group (7) by LPT, and shift register group (7) links to each other with classification mechanism (9) on being installed in grading plant (10) by classification mechanism controller (8) separately; 5) discharging opening (11) is installed in grading plant (10) below, and corresponding with classification mechanism (9); 6), be provided with the fruit grading software (12) of handling fruit image in computer (5) inside.
2. the fruit grading machine based on machine vision according to claim 1 is characterized in that said grading plant (10) comprises sprocket wheel (10.1), hopper (10.2), guide rail (10.3), guide plate (10.5), chain (10.6); Guide rail (10.3) segmentation is installed on the grading plant (10), hopper (10.2) is installed on the chain (10.6), the sliding axle (10.4) of hopper (10.2) can be free to slide on guide rail (10.3), classification mechanism (9) is filled up the breach of guide rail (10.3), and guide plate (10.5) is installed in classification mechanism (9) below.
3. the fruit grading machine based on machine vision according to claim 1 is characterized in that: said classification mechanism (9), and it comprises ledger-plate (9.1), cutting blade (9.2), little axle (9.3), driving lever (9.4), stator (9.5), stator winding I (9.6), stator winding II (9.7), spacer pin I (9.8), rotating shaft (9.9), spacer pin II (9.10), rotor (9.11); Cutting blade (9.2) is installed on the ledger-plate (9.1) by little axle (9.3), can rotate around little axle (9.3), stator (9.5) is installed on the ledger-plate (9.1), rotor (9.11) is installed on the stator (9.5) by rotating shaft (9.9), rotor (9.11) (9.9) around the shaft rotates, driving lever (9.4) is fixed in the rotating shaft (9.9), can be with rotor (9.11) (9.9) rotation around the shaft, stator winding I (9.6) and stator winding II (9.7) are fixed on the stator (9.5), and spacer pin I (9.8) and spacer pin II (9.10) are fixed on the stator (9.5).
4. the fruit grading machine based on machine vision according to claim 1 is characterized in that: said shift register group (7), and it comprises shift register (A1, A31, A32, A33), data selector (A21, A22, A23), resistance and switch; Shift register (A1) adopts 74LS164, and shift register (A31～A33) adopt 4006, (A21～A23) is 4512 to data selector;
1) clock signal of shift register (A1, A31, A32, A33) is produced by encoder (1), the control end of shift register (A1) (A, B) and (C) (R1～R3) is connected on an end of power positive end and switch (SW1), the other end ground connection of switch (SW1) by resistance respectively; The control end (A, B) of data selector (A21, A22) and (C) are corresponding to link to each other, and (R4～R6) is connected on an end of power positive end and switch (SW2), the other end ground connection of switch (SW2) by resistance respectively; The output of shift register (A1) (Q0～Q7) respectively with the data input pin (X0～X7) link to each other of data selector (A21);
2) data output end (Z) of data selector (A21) links to each other with the data input pin (D1) of shift register (A31);
3) data output end (Q4) of shift register (A31) links to each other with the data input pin (D10) of self, data output end (Q13) links to each other with its data input (D5), data output end (Q9) links to each other with the data input pin (X0) of its data input (D14) and data selector (A22) respectively, data output end (Q18) links to each other with the data input pin (D5) of shift register (A32) and the data input pin (X1) of data selector (A22) respectively, and data output end (Q8) links to each other with (X1) with the data input pin (X0) of data selector (A23) respectively with data output end (Q17);
4) data output end (Q9) of shift register (A32) links to each other with the data input pin (X2) of its data input (D14) and data selector (A22) respectively, data output end (Q18) links to each other with the data input pin (D5) of shift register (A33) and the data input pin (X3) of data selector (A22) respectively, and data output end (Q8) links to each other with (X3) with the data input pin (X2) of data selector (A23) respectively with data output end (Q17);
5) data output end (Q9) of shift register (A33) links to each other with the data input pin (X4) of its data input (D14) and data selector (A22) respectively, data output end (Q18) links to each other with the data input pin (D5) of shift register (A33) and the data input pin (X5) of data selector (A22) respectively, and data output end (Q8) links to each other with (X5) with the data input pin (X4) of data selector (A23) respectively with data output end (Q17).
5. the fruit grading machine based on machine vision according to claim 1 is characterized in that: said classification mechanism controller (8), and it comprises monostable flipflop (A4A, A4B), phase inverter (A8A, A8B) is with door (A7A, A7B).Monostable triggers (A4A, A4B) and adopts 4528, and phase inverter adopts 4069, adopts 4081 with door;
1) the triggering input (A) of monostable flipflop (A4A) is connected on the encoder (1), (B) termination high level, output (Q) links to each other with the triggering input (B) of monostable flipflop (A4B) and the negative pole of diode (D4) respectively, triggering input (A) ground connection of monostable flipflop (A4B), output (Q) is connected on the negative pole of diode (D1);
2) data output end (Z) output signal (M2) of data selector (A22) connects the input of phase inverter (A8A), the input of phase inverter (A8A) is connected on an input with door (A7A), data output end (Z) output signal (M1) of data selector (A23) be connected on the door (A7A) another input, with door (A7A) output be connected on the clear terminal (CLR) of monostable flipflop (A4A);
3) data output end (Z) output signal (M1) of data selector (A23) connects the input of phase inverter (A8B), the input of phase inverter (A8B) is connected on an input with door (A7B), data output end (Z) output signal (M2) of data selector (A22) is connected on another input with door (A7B), with door (A7B) output be connected on monostable and trigger on the clear terminal (CLR) of (A4B);
4) positive pole of diode (D1) links to each other with the positive pole of diode (D2), and be connected on positive source by resistance (R9), the negative pole of diode (D2) is connected on the base stage of triode (T1), the emitter stage of triode (T1) is connected in the base stage of triode (T2), the colelctor electrode of triode (T2) is connected on positive source by stator winding I (9.6), diode (D3) negative pole is connected on positive source, and is in parallel with stator winding I (9.6);
5) positive pole of diode (D4) links to each other with the positive pole of diode (D5), and be connected on positive source by resistance (R13), the negative pole of diode (D5) is connected on the base stage of triode (T3), the emitter stage of triode (T3) is connected in the base stage of triode (T4), the colelctor electrode of triode (T4) is connected on positive source by stator winding II (9.7), diode (D6) negative pole is connected on positive source, and is in parallel with stator winding I (9.7).
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| CN 02295073 CN2587534Y (en) | 2002-12-27 | 2002-12-27 | Machine vision based fruit sorting machine |
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| CN 02295073 CN2587534Y (en) | 2002-12-27 | 2002-12-27 | Machine vision based fruit sorting machine |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN100427931C (en) * | 2006-04-10 | 2008-10-22 | 浙江大学 | Method and apparatus for detecting fruit surface defect based on laser image |
| CN101085442B (en) * | 2006-06-06 | 2010-07-28 | 中国农业大学 | Method for treating and classifying orange image based on RGB composite model |
| CN1769834B (en) * | 2004-10-21 | 2010-12-22 | 株式会社米姿托约 | Smear-limit based system and method for controlling vision systems for consistently accurate and high-speed inspection |
| CN101603927B (en) * | 2009-07-17 | 2011-07-20 | 南京农业大学 | Device for nondestructive testing of defects of hoxiu pears and use method |
| CN102274833A (en) * | 2011-04-26 | 2011-12-14 | 浙江大学 | Automatic grading device of botrytis of solanaceous vegetables |
| CN102680414A (en) * | 2012-05-30 | 2012-09-19 | 华中农业大学 | Automatic grading device for red globe grapes based on machine vision and method thereof |
| CN101322969B (en) * | 2008-07-18 | 2012-11-14 | 中国农业大学 | Test and classification method |
| CN103721948A (en) * | 2013-12-31 | 2014-04-16 | 江南大学 | Small multifunctional sorting machine for sorting expresses |
| CN105057226A (en) * | 2015-08-13 | 2015-11-18 | 苏州华拓信息技术有限公司 | Melon agricultural product sorting method |
| CN105606473A (en) * | 2016-01-20 | 2016-05-25 | 华中农业大学 | Red globe grape hardness nondestructive detection method based on machine vision |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN1769834B (en) * | 2004-10-21 | 2010-12-22 | 株式会社米姿托约 | Smear-limit based system and method for controlling vision systems for consistently accurate and high-speed inspection |
| CN100427931C (en) * | 2006-04-10 | 2008-10-22 | 浙江大学 | Method and apparatus for detecting fruit surface defect based on laser image |
| CN101085442B (en) * | 2006-06-06 | 2010-07-28 | 中国农业大学 | Method for treating and classifying orange image based on RGB composite model |
| CN101322969B (en) * | 2008-07-18 | 2012-11-14 | 中国农业大学 | Test and classification method |
| CN101603927B (en) * | 2009-07-17 | 2011-07-20 | 南京农业大学 | Device for nondestructive testing of defects of hoxiu pears and use method |
| CN102274833A (en) * | 2011-04-26 | 2011-12-14 | 浙江大学 | Automatic grading device of botrytis of solanaceous vegetables |
| CN102680414A (en) * | 2012-05-30 | 2012-09-19 | 华中农业大学 | Automatic grading device for red globe grapes based on machine vision and method thereof |
| CN102680414B (en) * | 2012-05-30 | 2014-06-25 | 华中农业大学 | Automatic grading device for red globe grapes based on machine vision and method thereof |
| CN103721948A (en) * | 2013-12-31 | 2014-04-16 | 江南大学 | Small multifunctional sorting machine for sorting expresses |
| CN105057226A (en) * | 2015-08-13 | 2015-11-18 | 苏州华拓信息技术有限公司 | Melon agricultural product sorting method |
| CN105606473A (en) * | 2016-01-20 | 2016-05-25 | 华中农业大学 | Red globe grape hardness nondestructive detection method based on machine vision |
| CN105606473B (en) * | 2016-01-20 | 2018-06-15 | 华中农业大学 | A kind of red grape rigidity nondestructive testing method based on machine vision |
| CN109570070A (en) * | 2018-11-12 | 2019-04-05 | 浙江科技学院 | A kind of level meter bubble magnitude classification system and method |
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