SU1209073A1 - Method and apparatus for grading root vegetables - Google Patents

Abstract

1. The method of sorting of root crops, which implies that the roots are oriented and individually fed into the field of view, where flying fruits from the root and field fruits illuminate with a parallel beam of light and receive an electric signal corresponding to the length, projection area and maximum thickness using a slit diaphragm. a root and root crop and an actuator controlling mechanism, characterized in that, in order to improve the recognition accuracy of conditioned root and root crops, by taking into account the contribution of the shadow from the chevyaschka, An additional photodetector with a slit diaphragm and a light filter is used to determine the length of the stem and compare it with the standard, after which the ratio of the product of the maximum thickness to the root crop length to the area of its projection is determined, and the resulting signal applied to the actuator is compared. mechanism. (L o about with about 00 Ig. F

Description

2. A device for implementing a method of sorting root crops, containing a metering device, feeding and orienting mechanisms, a control device with a light source, a lens system, a slit diaphragm and a photo-receiver, an actuator with an electronic control device that contains peak detectors with a reset, a differential amplifier, integrators reset, dividing units, comparator zero, gated comparators, strobe pulse multivibrator, reset pulse multivibrator, element t OR, with the input of the first peak detector connected to the output of the photodetector and the input of the differential amplifier, and its output to another input of the differential amplifier whose output is connected to the input of the second peak of the detector, a comparator zero and the first integrator whose output is connected to one the input of the dividing unit, and the zero comparator is connected with the inputs of the second integrator and the strobe multivibrator, the output of which is connected to the strobe inputs of the comparators and the multivibrator of the reset, while the output ltivibratora connected to the reset inputs reset said first and second peak detectors, first and second integrators, and outputs the block dividing and first integrator coupled to the inputs of the first and second comparators, gated, and the free inputs of the first, second and

The invention relates to an agricultural technique and can be used for sorting of roots and vegetables, for example, carrots in harvesting machines and at post-harvest processing points.

The purpose of the invention is to improve the recognition accuracy of conditioned root and tuber crops by taking into account the contribution of the shade from the stem.

FIG. 1 shows a schematic diagram of a device for implementing the method of sorting, fruit and vegetable crops, general view; in fig. 2 - feeding and orienting mechanism; in fig. 3 - control device; in fig. 4 is a block diagram of an electronic control device; in fig. 5 - timing diagrams explaining the method and operation of the device for sorting the root and tuber crops (on the left is shown the case of flight of the root crop with the cheek and KiKom, on the right - without a petiole).

The third comparators are connected to a source of reference voltages, and their outputs are connected via an OR circuit to an actuator, characterized in that it is equipped with an additional photo-receiver with a slit diaphragm and a light filter, and its electronic control unit is equipped with a multiplication unit, a color comparator, and an additional differential amplifier , an integrator and gated keys, while one input of the second dividing unit is connected to the output of the additional photodetector, its other input is connected to the output of the additional differential amplifier, one input of which is connected to the output of the first differential amplifier, and the output of the second division unit is connected to the input of a color comparator, the output of which is connected to the gate inputs of the first and second gated keys and through an additional gated integrator to the input of the third gated comparator, wherein the output of the first differential amplifier is connected via the first gated key to the input of the first integrator, the output of the comparator zero is connected via the second gated key the input of the second integrator, wherein the inputs of the multiplication unit are connected to the outputs of the second integrator and the second peak detector, its output is connected to another input of the division unit, and the other input of the additional differential amplifier is connected to the reference voltage source.

A device for implementing the method of sorting root crops contains a dosing device 1 with a hopper and a vibrating conveyor, feeding and orienting mechanism 2, which feeds the roots to the field of view of the control device 3. The electrical signal from the latter is fed to the input of the electronic control device 4, where a signal is generated that is fed to actuator 5. The feeding and orienting mechanism 2 is made in the form of V-shaped belt conveyors installed in pairs 6. The control device 3 with holds the source of light 7, the lens system 8, the slit aperture 9, the photodetectors 10 and 11, the light filter 12.

The electronic control device 4 contains peak detectors with a reset, differential amplifiers, integrators with a reset, division blocks, a comparator zero.

Gated comparators with adjustable comparing thresholds, stub pulse multivibrator, reset pulse multivibrator, color comparator, gated keys, OR element. The input of the single peak detector 13 is connected to the output of the photodetector 10 and the input of the differential amplifier 14, and its output is connected to another input of the differential amplifier 14, the input of which is connected to the input of the second peak detector 15, the comparator 16 pool and through the first gating The key 17 is with the input of the first integrator 18, the output of which is connected to one input of dividing unit 19, and the comparator 16 is connected through a second gated key 20 to the second integrator 21, whose output is connected to one input of the intelligent unit 22, another input which is connected to the output of the peak detector 15, and the output is connected to the dividing unit 19, and the input from the first integrator 18 is received via key 17 from the differential amplifier 14, the value of which is proportional to the current thickness of the root crop, and the output signal from the integrator 18 is proportional to square projection of the root without a petiole. The circuit consisting of the successive connection of the comi-arator 16 zero, the gated key 20 and the integrator 21 performs the calculation of the length of the root crop without a tangle.

The comparator 16 pool is connected to the input of the multivibrator 23 by gating a pulse, the output of which is connected to the gate inputs of the comparators 24-26 and the multivibrator 27 reset. At the same time, an additional photodiode 11 is connected to a single input of the second dividing unit 28, another input of which is connected to the output of an additional differential amplifier 29, on one input of which the voltage Ui is from the reference source and the other input is connected To the output of the differential amplifier 14, the output of dividing unit 28 is connected to the input of the color distributor 30, the output of which is connected to the additional integrator 31 and the gate inputs of the keys 17 and 20, and the output of the integrator 31 is connected to the same input of the compar ora 26.

In this case, a circuit consisting of a series-connected dividing unit 28, a color comparator 30 and an integrator 31 calculates the length of the skull. The output of the multivibrator 27 reset is connected to the reset inputs of one 13 and second 15 peak detectors, the first 18 and second 21 integrators, and the outputs of the first block 19, the first integrator 18 and the integrator 31 are connected to the inputs of the first 24, second 25 and third 26 respectively. connected by their outputs through the circuit OR 32 to the actuator 5.

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Moreover, the first gated comparator 24 is made double-threshold, and the second 25 and third 26 gated comparators are single-threshold.

Comparators 24–26 are supplied with one-bit nanopaths Uj, Oz, LU., L s from the source of the reference array, setting the comparability thresholds. The strobe pulse multivibrator 23 is triggered from the signal from the output of the comparator 16 pool, the strobe pulse from the output of the multivibrator 23 is fed to the comparators 24-26 and to the trigger input of the multivibrator 27 reset. A reset pulse from the output of the latter is fed to peak detectors 13 and 15 and to integrators 18, 21 and 31.

15 The sorting method consists of WTO, that the roots are pre-oriented and, however, they are fed into the field of view, where they are illuminated in a free fall with a beam of light, and the roots are oriented along the dip and thick along the direction of the beam of light. X1, more recently, with the help of a slit diaphragm and a photoderipe, installed on the side opposite to the transmitter, but the shadow cast by the cornberry on the ground,

25 receive an electrical signal sweep of the corpus-shape, corresponding to the current crowd of |, and non-corneal. At the same time, with the slit gap and the second photodetector with a light filter installed on the radiator side, an electric signal proportional to the color and the current crowd of the root crop is acquired.

The sigpal sweep, received from the Fiep photodetector, does not depend on the reflective mode of the corporation. According to the difference of maximum sigal illumination of a primary photodetector and a 11 ° sweep signal, a signal proportional to the current zero root is obtained. Comparing the electrical signal, which is proportional to the color and current thickness of the casing, with a sigpal,

The dd is proportional to the current thickness, the signal is obtained, the proportional color, and determined for the skull.

Interrupting the signal about the length of the root for the time of the skull's passage, determine the length of the root without skull (by the time

45 spans of Korite yuda without stem). Interrupting the signal of the current stratum} e of the root crop for the duration of the flight of the stem, determines the area of the project of the root without the stem. Next, the ratios of the maximum corneal production over a length of 50 without its area without a handle are determined, the values of the specified relative one are compared and the length of the stem is compared to the reference value, and an actuator control signal is generated.

The device works as follows. From the dosage of the device 1, the roots are fed in the bowl; 1 cook. 1non-oriented state of the feed and orienting mechanism 2. Kotor

picks up root crops of scientific research institutes and gives them their equipment 3.

in a vertical position, to the zone of view of the control

the spider 6 mechanism 2, the roots get accelerated and fly one by one; a review of the control device 3. In the latter, the roots are illuminated by a parallel beam of light from the source 7 through the lens system 8 and viewed through the slit aperture 9 by the photoreceiver 10.

In the absence of a root crop in front of the slit, the signal from the photodetector 10 is maximum, and when the root crop passes through the viewing area of the photon receiver 10, it is partially obscured by the root crop and its signal decreases (Fig. 5a) by an amount proportional to the current thickness of the root crop. Before the passage of the root, i.e. The beginning of the first form analysis of the form, the initial state of the tick detector 15 and the integrators 18, 21 and 31 are bullet, and at the output of the peak detector 13 is the maximum voltage. The next root crop, which falls into the field of view, is viewed through the slit by the photo foil I). Di () eferencial amplifier 14 outputs (from a maximal signal, memorized,) with a peak detector 1 3, a signal from a photoconductor and generates a signal (Fig. 56), which is proportional to the current thickness of the root or Io. ui. This signal is processed by the i pa iopoM 18, the output signal of which, but at the end of the calculation of the root crop, is proportional to the projected area of the root crop. The signal from the output of the differential amplifier 14 is fed to a comparator 16 zero 16, on the B111 input of which but is a rectangular signal (Fig. 5c) with a duration equal to the flight time of the root, i.e. proportional d; 1ine ne. 1 d.

A mapping photonium} P1ke 11, during the passage of the root, appears a signal, clear to the color and the current current of the root crop {fig. 5e), which is fed to the input of a block 28 of a deleppe, the other input of which is HocTynaei through an additional differential amplifier 29 a signal from a differential amplifier 14 (Fig. 5d), to which the reference voltage IJi is added to avoid division by zero. Thus, o6j), as a result, a signal is produced at the output of the block 28 of the Delepy, (fng. 5e), the value of which is proportional to the color of the root crop along its length. The 3D color comparator generates a strobe pulse corresponding to the length of the skull and entering the keys of the keys 17 and 20. The key 17 interrupts the signal coming from the differential amplifier 14 to the integrator 18, which causes the output of the integrator 18 - National square of the projection of cornless stalks. The key 20 interrupts the signal, which is sent to the integrator 21, and a signal is generated (php. 5) at the output ei o whose duration corresponds to the time of flight of the corporation without

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scabby From this signal, using the integrator 21, which performs the function of the time-amplitude converter, obtains a signal (Fig. 5k), the amplitude of which, at the end of the flight of the root, is proportional to the length of the root crop. The 8 signal of the amplifier 14 also arrives at the peak detector 15, where the maximum thickness of the corpora is memorized, the signal of which is fed to one input of multiplication unit 22, to the other input of which comes a signal from the integrator 21 about the length of the cornlople.

The division block 19 divides the signal about the product of the maximum thickness of the root by the area signal from the integrator 18. The signals from the integrators 18 and 31 and the block 19 of the division go to the comparators 24-26. Since all these signals are informative only at the end of the cycle changes;) only after Kop, ie, the fruit completely passes in front of the slit and the full figure of the root crop is full, it is possible to compare these signals with the reference ones only in the coke cycle. For this, comparators 24–26 comparisons are constructed by the pulse (fn. 5l) of the multivibrator 23 of the gating tsMny ibca. The multivibrator 23 is started by the rear side; Output is easy. The second pulse of the comparator 16, i.e. immediately after the root crop passes completely in front of the slit diaphragm 9. In the event that at least one of the three characteristics (area, relative ratio of the product of length to maximum volume to area, petiole length) goes beyond the setting lines, UM, IJ-i, U.5 are standard tolerances, at the output of the OR 32 element, but there is a signal that receives an attenuation mechanism 5.

) 1, in executive regulation, includes electromagnet,. The ypatka is reconsidered and the substandard root crop changes the trajectory of the ciioero movement, thereby ensuring sorting. At the end of the measurement cycle and identification of the root crop, peak detectors 13 and 15 and integrators 18, 21 and 31 are reset to the initial zero state by a reset pulse (FMG. 5m) of the reset multivibrator 27;;. 1 l of this nestledia is triggered by the falling edge of the strobe pulse. from the output of the multivibrator 23. After resetting and subsequent processing by the 1-touch detector 13 of the pause signal from the photodetector 10, the device is prepared for the analysis of the next root-crop.

To obegneni rule. the device’s operation when sorting a batch of root crops from this batch selects a number of good root crops and sends them through a variety of raw materials. Here, the voltages at the outputs of the integrators 18 and 31 and the division block 19 are measured. The maxima and minima of these lines expose the U – Us voltage, and the adjustment of the device of the sort is completed at this point.

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Claims (2)

1. A method for sorting root tubers, in which the root tubers are oriented and individually delivered to the viewing area, where the flying root tubers are illuminated with a parallel beam of light and an electrical signal corresponding to the length, projection area and maximum thickness is obtained using the slit aperture in the photodetector root crops and controlling the actuator, characterized in that, in order to improve the recognition accuracy of conditioned root crops by taking into account the contribution of the shadow from the petiole, using th additional photodetector having a slit diaphragm and filter, determine the length of the stem and compared with the reference, after which the ratio of the product of the maximum thickness at the root crops length to the area of its projection, compare this ratio with a reference and generate a resultant § signal supplied to the actuator. SU „„ 1209073 FIG. one 2. A device for implementing a method for sorting root crops, containing a metering device, feeding and orienting mechanisms, a control device with a light source, a lens system, a slit diaphragm and a photodetector, an actuator with an electronic control device that contains peak detectors with reset, differential amplifier, integrators with reset, division blocks, zero comparator, gated comparators, gating pulse multivibrator, reset pulse multivibrator, element OR wherein the input of the first peak detector is connected to the output of the photodetector and the input of the differential amplifier, and its output is connected to another input of the differential amplifier, the output of which is connected to the input of the second peak detector, a zero comparator and the first integrator, the output of which is connected to one input of the division unit, and the zero comparator is connected to the inputs of the second integrator and the multivibrator of the strobe pulse, the output of which is connected to the strobe inputs of the comparators and the multivibrator of the reset, while the multivi output the reset rotor is connected to the reset inputs of the first and second peak detectors, the first and second integrators, and the outputs of the division unit and the first integrator are connected to the inputs of the first and second gated comparators, respectively, and the free inputs of the first, second and third comparators are connected to the reference voltage source, and their outputs are connected via an OR circuit to an actuator, characterized in that it is equipped with an additional photodetector with a slit diaphragm and a light filter, and its electronic device the control unit is a multiplication unit, a color comparator, an additional differential amplifier, an integrator and gated keys, while one input of the second division unit is connected to the output of the additional pho todetector, its other input is connected to the output of an additional differential amplifier, one input of which is connected to the output of the first differential amplifier, and the output of the second division unit is connected to the input of the color comparator, the output of which is connected to the gate inputs of the first and second gated keys and without an additional gated integrator, to the input of the third gated comparator, the output of the first differential amplifier connected through the first gated key to the input of the first integrator, the output of the zero comparator connected through the second gated key to the input of the second integrator, and the inputs of the multiplication unit are connected to the outputs of the second integrator and the second peak detector, its output is connected to another input of the division unit, and the other input of the additional differential amplifier is connected to the reference source voltage.