KR19990011659U - Automatic Citrus Classification System Using Image - Google Patents

Abstract

The present invention relates to an automatic citrus grading apparatus based on image data of grading according to a predetermined standard by directly photographing the citrus fruits in the grading of citrus fruits.

For the classification of citrus fruits, drums are generally used. In addition, we try to classify them using plates with holes of a certain diameter. In all cases, mechanical friction is inevitable in the screening and transfer of citrus fruits. There was quality damage.

This paper compares the image data taken by the camera on the tray and compares the image data taken by the camera with a computer, and then classifies the selected signal, and then automatically packs the selected signal by using a sorting device consisting of an actuator driving device such as PLC. In order to suppress the input error of the image data, which can occur during shooting, the dark room device that can block the external light is used. Therefore, it is possible to minimize the influx of light generated during shooting and to continuously process, so that stable and accurate selection and prevention of fruit damage are possible.

Description

Automatic Citrus Classification System Using Image

The present invention relates to an image processing apparatus for automatically sorting citrus fruits by size.

The tangerines are harvested from the farm and distributed to the after-market in size. In this case, as shown in FIG. 1, the supply unit 100 supplies the tangerines as individual units, the transfer unit 110 transports the supplied tangerines as individual units, It consists of a sorting unit 120 for sorting according to the size, weight, etc. of the transported citrus fruits, and a packaging shipment unit 130 for packaging and separating the sorted citrus fruits as sorted. When the quantity is loaded into the rotating drum and rotated, only a certain diameter is passed through the drum's sorting hole, which is dropped by its own weight, and loaded into the packaging container at the bottom. If the surface is damaged by friction of the liver, severe damage to the entire fruit will result in corruption in circulation.

In another method, Korean Laid-Open Patent Publication No. 97-33081 provides a sorting device based on mechanical weight or shape by setting a weight, a length, and the like of a sorting object in a control unit, and using a tray, a base, a sensing cylinder, and a scale. In this case, the screening characteristics by weight or length are recognized, but it is difficult to classify them according to size. Publication No. 95-16896 improves this drawback by providing a method of distinguishing by using a device for installing a plurality of plates with screening holes. It is necessary to install a large number of plates with large, medium, and small sorting holes according to the size of the plate, and dozens of plates are connected during their mechanical operation, so that the operation device is quite complicated, and therefore, a considerable cost is required for installation. If the ball is fixed, even minor changes must be made to replace the board itself. Neunghada one little bunch hagieneun installed at the farm, and further reduction in scale will further disadvantage that the reference figures have not changed free.

This paper captures the regularly transported citrus fruits in the photographing device for each unit and judges them by a program recorded in the central processing unit for each class based on the photographing data, and then applies them to a device such as a PLC for driving the actuator. In order to minimize errors due to external light that may occur during shooting, a sealed image processing device with a separate dimming device is provided to the transfer unit to obtain stable image data. In addition, the processing of the image data was judged by crossing the x and y coordinate values one by one, improving the processing speed by four times or more, and enabling high-speed processing.

1 is a block diagram showing the overall process of citrus selection in general,

2 is a block diagram showing the overall configuration of the present invention,

3 is a front sectional view of the image processing apparatus of the present invention;

4 is a side cross-sectional view of an image processing apparatus of the present invention;

5 is a flowchart of an internal program associated with the image processing apparatus of the present invention.

*** Explanation of symbols for the main parts of the drawing ***

1: transfer part 2: chain 3: base part 10: tray part

11: Shoring 12: Plate 14: Sliding Roller 15: Guide Rail

20: photographing apparatus 21: lower side 22: other side 23: light shielding film

25 camera 26 lighting 25a horizontal 25b adjustment bar

27, 28: first and second sensor 30: central processing unit 40: PLC

Hereinafter, the present invention will be described in detail with reference to the accompanying drawings.

2 is a schematic view showing the overall configuration of the present invention, FIG. 3 is a front sectional view of the image processing apparatus, FIG. 4 is a side sectional view of the image processing apparatus of the present invention, and FIG. This is the program sequence that shows.

In this paper, a large amount of tangerine is loaded into a storage supply device such as a hopper, and then a single feeding part, a chain or a belt is used to feed the tangerine on a continuous track at a constant speed by an endless track. In the sorting separator for separating and sorting by grade according to the weight, automatic sorting device of citrus composed of a packing shipping unit to ship the sorted separated citrus by grade,

A photographing apparatus having a lighting device, a camera, and a control device for fine-tuning the same, disposed on one side of the transfer unit;

A central processing unit which analyzes the image data obtained from the photographing apparatus, transmits the processing values to the classification apparatus after the classification processing based on the reference values, and displays the processing status remotely;

It is composed of a sorting device for sending the operation signal to each of the connected actuators based on the signal transmitted from the central processing unit to separate the classification by class.

The photographing apparatus 20 of the present invention is a box-shaped structure which is sealed in a whole so as to minimize the error of image data caused by shadow or external light generated during photographing, and the photographing lamp 26 and the camera 25 are installed inside the upper side. One side of the lower part is composed of an entry part 21 for entering the tray part and an outlet part 22 corresponding to the entry part, but having a narrow elastic light shielding film so as to effectively block light without jamming the transfer part ( 23) are arranged so that a plurality of consecutive overlapping, and a separate first sensor 27 and a second sensor 28 is installed to generate contact signals at the inlet and outlet of the tray.

The camera 25 and the lamp 26 in the photographing apparatus have a camera disposed above and below the lamp so that the occurrence of shadows generated during illumination is minimized, but the lamp is disposed in a diagonal direction with the camera. 25 is a structure in which a screw head 25a formed on an outer circumferential surface passes through a feed nut 25b and is fixed to the feed nut, and is connected to a vertical adjustment bar 25c and an adjustment handle 25d. Positioning is possible according to the rotation. There is a separate guiding slider 25e on one side of the transfer nut 25b to prevent the transfer nut from rotating and to allow linear movement. The lighting lamp 26 is similar to the camera. The transfer bolt shaft 26a placed laterally penetrates the transfer nut 26b and is fixed to the transfer nut, and is connected to the vertical adjustment bar 26c and the adjustment handle 26d. end A separate guiding slider is installed so that the transfer nut can also be linearly moved. The above camera and the lamp are connected to the central processing unit so as to be turned on and off according to the signals of the first and second sensors. .

The central processing unit 30 of the present invention includes a memory unit in which programs are recorded, mainly a CPU, an input unit such as a keyboard, a DSP unit for converting image signals, a display unit such as a monitor, and the like. In this structure, the image data processing step in the central processing unit is performed when the first sensor 27 in the entrance side light shielding film 23 is touched by the transfer unit 10. In step 26 and the camera 25 to start lighting and camera operation for a predetermined time, and then the second sensor 28 is detected, the shooting step of turning off the camera and the lamp,

After the shooting is completed, the obtained image data is analyzed and classified into a set grade after comparison with a reference value.

Processing a signal for each classified class and transmitting the signal to the classification apparatus;

After a certain time elapses after transmitting a signal to the PLC side, it receives a new information operation signal from the sorting device and prepares the next selection of fruit.

In this paper, the screening process compresses the screen by reading the brightness value of the set screen across each of x and y coordinates in order to process two areas of interest (200 pixels x 200 pixels per area) about 10 times per second. In other words, even if the entire screen is not analyzed, the error of concern is that the error can be obtained up to 1% by repeated comparison with the result of reading the whole screen. In the case of screening by the stage (less than 51mm and 71mm or more), there is a minimum gap of 2mm, but the maximum error through repeated experiments can not be more than 0.7mm. After setting the usage environment of the system, the input signal (sensor signal) information of the classifier is recognized as the start signal of the whole program, and the main memory is processed in parallel. DSP information is initialized according to the information, and the digital information is processed from the set screen, and the result is graded in 9 steps and sent to the central processing unit by internal communication, and new information operation is performed at the central processing unit per hour. The result obtained by carrying out is transferred to PLC by using general communication method such as RS232C and it becomes necessary operation.

In this paper, the sorting device 40 is connected to an electric signal connected to a sensor and a solenoid placed at a certain position in the tray, so that when the graded fruit is detected by another sensor 41 at a desired position, the sorting device 40 is supplied to the solenoid there. A signal is given to the solenoid 42 of the fruit loaded tray so that the fruit in the tray can fall by its own weight. When the loaded fruit is separated, a signal is given to the central processing unit again. Be prepared to enter.

In this case, the conveying part 1 is composed of a transmission means such as a belt or a chain that is driven at a constant speed by receiving power from a driving force generator such as a motor. The engagement by the connected sprocket 3 was made possible, and the tray part was gradually conveyed by the rotation operation of the chain.

In the tray part 10 of the present invention, the plate 12 is fixed on the upper side of the support 11 having a slight elasticity, and the base 3 is fixed on the lower side thereof so as to be able to be engaged with the chain. (14) is installed to be transported along the guide rail (15). The holding (11) can also be configured as an elastic spring itself, and the stopper (16) is installed on the other side by a pivot pin type and spring-like The elastic material is fixed so that it can be pulled out at all times. The shape of the tray part can be deformed as necessary in addition to this shape.

Referring to the operational relationship according to the above structural features are as follows.

Citrus fruits are individually stacked on the tray section 10 by a known means, and progress slowly according to the thickening of the conveying section. The light blocking film disposed on the entry section 21 of the photographing apparatus 20 while being mounted on the plate 12 23) is opened and transmits the detection signal of the first sensor 27 therein to the central processing unit. The central processing unit enters the preparation stage by giving an operation signal to the lamp 26 and the camera 25. When the tray part is located at the center, the whole image is taken by the camera and the image data is sent to the central processing unit. Here, the specific grade is selected and compared to the reference value, and the signal is transmitted to the sorting device 40 again. ) Is further advanced to reach the discharge part 22, so that the second sensor 28 of the photographing apparatus is detected and the grade is classified as all the image data processing is completed, so that the operation is controlled by the grade of the tray advanced in the sorting apparatus. Wait until it reaches the arranged third sensor, and when it arrives, the solenoid gives an operation signal to incline the dish, causing the fruit to fall. This series of operating relationships installs each image photographing device for each tray part. More than 10 sortings per second are possible.

As described above, according to the present invention, the citrus fruits are loaded and transported individually without any friction between the citrus fruits, and the image data is classified by the central computer in each image processing apparatus. It has almost no damage to the surface of the surface, and it is possible to classify correctly. In particular, the x, y coordinate reading is performed alternately instead of consecutively during image data sorting, thereby increasing the processing speed more than four times. Compression processing is possible because the citrus surface is almost spherical, and even partial processing of the image data can ensure the screening accuracy of less than 1% of the error rate. It is.

Claims (3)

A large amount of tangerine is loaded into a storage supply device such as a hopper and then fed individually by a feeding part, chain or belt. In the sorting separator for sorting by grade, the automatic sorting device for citrus fruits consisting of a packing shipment unit for packing the separated citrus by the grade, A photographing apparatus having a lighting device, a camera, and a control device for fine-tuning the same, disposed on one side of the transfer unit; A central processing unit which analyzes the image data obtained from the photographing apparatus, transmits the processing values to the classification apparatus after the classification processing based on the reference values, and displays the processing status remotely; Citrus automatic classification device characterized in that it is composed of a sorting device for sending the operation signal to each connected actuator on the basis of the signal transmitted from the central processing unit to separate the classification by class. The method of claim 1, The photographing apparatus 20 is a box-shaped structure in which the whole is sealed to minimize the error of image data due to shadows or external light generated during photographing, and the photographing lights 26 and the camera 25 are installed inside the upper side. One side of the lower part is composed of an entry part 21 for entering the tray part and an discharge part 22 corresponding to the entrance part, but the light blocking film 23 having a narrow elasticity can effectively block light without jamming the transfer part. And a plurality of first and second sensors 27 and 28 are installed at the inlet and outlet of the tray to generate contact signals. The camera 25 has a structure in which a transfer bolt shaft 25a having a screw formed on an outer circumferential surface thereof passes through a transfer nut 25b and is fixed to the transfer nut, and is connected to a vertical adjustment bar 25c and an adjustment handle 25d. Since the position can be changed according to the rotation of the adjusting handle, there is a separate guiding slider (25e) on one side of the feed nut (25b) to prevent the rotation of the feed nut and linear movement, Like the camera, the lighting lamp 26 also has a structure in which the transfer bolt shaft 26a placed laterally passes through the transfer nut 26b and is fixed to the transfer nut, and is connected to the vertical adjustment bar 26c and the adjustment handle 26d. It is possible to adjust the position according to the rotation of the handle, and the automatic sorting device of citrus, characterized in that a separate guiding slider is installed so that the transfer nut can also be linear movement. The method of claim 1, The central processing unit 30 includes a memory unit in which programs are recorded, mainly a CPU, an input unit such as a keyboard, a DSP unit for converting image signals, an image display unit such as a monitor, and other devices. The image data processing step in the central processing unit is performed when the first sensor 27 in the entrance side light shielding film 23 is detected by the transfer unit 10. 26) and the camera 25 to start the lighting and the camera operation for a predetermined time, and then the shooting step of turning off the camera and the lamp when the second sensor 28 is detected, When shooting is completed, the obtained image data is compressed to read the x and y coordinate values one by one when comparing the two areas of interest (200 pixels by 200 pixels per area) with the reference value of the brightness value of the set screen. Categorizing into a set grade, Transmitting a signal to the classification apparatus 40 by processing a signal for each classified class; After a certain time elapses after the signal transmission to the sorting device side receives a new information calculation signal from the sorting device for classifying the citrus fruits in the order of preparing the next fruit sorting.