CN103240228B - Red date based on machine vision technique can't harm automatic grader - Google Patents
Red date based on machine vision technique can't harm automatic grader Download PDFInfo
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Abstract
The present invention relates to red date automatic online Non-Destructive Testing classifying equipoment, especially a kind of red date based on machine vision technique can't harm automatic grader.Comprise NI Vision Builder for Automated Inspection, be characterized in: comprise running roller transporting chain plate device (2), be provided with elevating hopper (1) at the feed end of this running roller transporting chain plate device (2), the illumination of described NI Vision Builder for Automated Inspection and CCD camera unit (5) are arranged on this running roller transporting chain plate device (2) top; In running roller transporting chain plate device (2) side at this illumination and CCD camera unit (5) rear, some classification transfer passages (8) are installed, and at this running roller transporting chain plate device (2) opposite side, executing agency being installed, this executing agency is connected with the Industrial Control Computer (4) of described NI Vision Builder for Automated Inspection.The invention provides a kind of red date based on machine vision technique and can't harm automatic grader, identification classification can be carried out to jujube fruit size, shape, color overall target.
Description
Technical field
The present invention relates to red date automatic online Non-Destructive Testing classifying equipoment, especially a kind of red date based on machine vision technique can't harm automatic grader.
Background technology
The fruit of red date, namely jujube fruit is prolate spheroid, the crisp easy damaged of the thin matter of skin, preserve, pack and realize high quality and favourable price for the ease of jujube fruit to sell, it must carry out Non-Destructive Testing classification after plucking, and namely rejects damage, pathology really, and by size, the index such as shape, color carries out rapid classification.Rear classification many employings mechanical type adopted by current fruit, and small part to large-scale fruit (apple, oranges and tangerines etc. circular fruit) exploitation, is not suitable for the jujube fruit of individual less, shape elliposoidal based on the classifying equipoment spininess of machine vision technique.Therefore realize the classification of jujube fruit Fast nondestructive evaluation and must break through multiple key technical problem: first jujube fruit in heaps should be divided into monomer one by one automatically, and make consistent being arranged in its direction arrange on conveyer belt, send into image acquisition region; Video camera is arranged on above conveyer belt, should obtain jujube fruit multi-surface information in course of conveying as far as possible, accurately to judge jujube fruit matter, should ensure that video camera accurately triggers when jujube fruit is delivered to correct position simultaneously and take pictures; The jujube fruit information such as outside integrated quality and internal sugar acidity, after the process of industrial computer software analysis, produces classification order and controls executing agency corresponding jujube fruit is delivered to respective channel, classification mechanism action should accurately, quick and can multichannel classification be carried out.Will realize whole classification process automation to complete, palpus design sensitivity is higher, the Multi-sensor control system that antijamming capability is strong simultaneously.
Summary of the invention
The object of this invention is to provide a kind of red date based on machine vision technique and can't harm automatic grader, high speed, the automatic classification to red date can be realized under undamaged condition.
A kind of red date based on machine vision technique can't harm automatic grader, comprise NI Vision Builder for Automated Inspection, its special feature is: comprise running roller transporting chain plate device, at the feed end of this running roller transporting chain plate device, elevating hopper is installed, the illumination of described NI Vision Builder for Automated Inspection and CCD camera cellular installation above this running roller transporting chain plate device, thus can take the red jujube image on running roller transporting chain plate device; In the running roller transporting chain plate device side at this illumination and CCD camera unit rear, some classification transfer passages are installed, and at this running roller transporting chain plate device opposite side, executing agency is installed, this executing agency is connected with the Industrial Control Computer of described NI Vision Builder for Automated Inspection, thus according to the image of shooting, red date is sent into corresponding classification transfer passage.
Industrial Control Computer wherein in NI Vision Builder for Automated Inspection is connected with PLC, and this PLC is connected with executing agency by control relay circuit.
Wherein executing agency comprises high-pressure air source device by pipeline connection and air nozzle.
One section that on its middle roll transporting chain plate device, red date to be fractionated runs is made up of an oblique ascent stage and a horizontal segment, and described illumination and CCD camera cellular installation are above this horizontal segment.
Its middle roll transporting chain plate device comprises chain-drive mechanism, this chain-drive mechanism is provided with two parallel and driving-chains be synchronized with the movement, between these two driving-chains, some roll shafts are installed, the two ends of each roll shaft are all arranged on two driving-chains by bearing, thus make each roll shaft all can around its axle rotation, the groove of a ring-type is equipped with in addition in the centre of each roll shaft, thus the pit that formation one is corresponding to single red date size between adjacent two roll shafts.
Wherein the sprocket wheel of chain-drive mechanism is connected with motor-driven by transmission mechanism, decelerator successively.
Wherein be provided with proximity switch or optoelectronic switch at least one sprocket wheel side of chain-drive mechanism, this proximity switch or optoelectronic switch are connected with the Industrial Control Computer in NI Vision Builder for Automated Inspection.
Wherein below the oblique ascent stage of running roller transporting chain plate device, be installed with a flexible rubbing plate, the roll shaft that surface and this oblique ascent stage of this flexible rubbing plate are located contacts, thus can be with action roller shaft rotation; And below the horizontal segment of running roller transporting chain plate device, being also installed with a flexible rubbing plate, the surface of this flexible rubbing plate contacts with the roll shaft at this horizontal segment place, thus can be with action roller shaft rotation.
Wherein flexible rubbing plate comprises base plate, is coated with the thick spongy layer of 2-3cm at this backplate surface.
Wherein at the discharge end of classification transfer passage, fruit automatic weighting packaging system is also installed, this fruit automatic weighting packaging system comprises feed unit, in the exit of this feed unit, hopper is installed, below this hopper, LOAD CELLS is installed, and in this feed hopper bottom, movable floor is installed, below this movable floor, be also provided with packing case conveyer belt, packing case place placed by this packing case conveyer belt position-sensing switch is installed; Also comprise control unit, this control unit is electrically connected with the controller of the controller of aforementioned feed unit, LOAD CELLS, packing case conveyer belt and position-sensing switch respectively; Wherein feed unit is made up of the conveyer belt of three different amount of feeding, and the controller of each conveyer belt is all electrically connected with described control unit, and the conveyer belt that wherein amount of feeding is minimum each feeding fruit.
Wherein movable floor is hinged on hopper, and this movable floor is also connected with the piston rod of switching mechanism thus base plate can be made to rotate to open or close hopper, this switching mechanism adopts cylinder or oil cylinder, and the controller of this switching mechanism is electrically connected with described control unit.
Wherein all conveyer belts all adopt to go up a slope to run and arrange, and and flexible baffle is installed on the conveyor belt, thus prevent fruit landing, hopper inner surface post flexible material with fruit contact position; Packing case conveyer belt is provided with baffle plate, thus packing case can be driven to be synchronized with the movement together; Below hopper, be evenly equipped with 3 LOAD CELLSs, and these 3 LOAD CELLSs lay respectively at both sides and the centre position of hopper; Wherein control unit adopts single-chip microcomputer or PLC, is provided with shock absorbing rubber in addition in the junction of LOAD CELLS and hopper.
The invention provides a kind of red date based on machine vision technique and can't harm automatic grader, damage in red date in heaps, disease fruit can be rejected, and according to the market demand, identification classification is carried out to jujube fruit size, shape, color overall target.Jujube fruit quality information is completed by Machine Vision Detection, and IMAQ should comprise the feature on the multiple surface of jujube fruit, and quality identification analysis is completed by corresponding industrial computer software, and by industrial computer programme-control executing agency rapid classification.Classification process automaticity is high, and each link is connected closely, and Grading accuracy rate is high and to red date not damaged.The present invention is a kind of jujube based on mechanical vision inspection technology fruit quick nondestructive automation classifying equipoment, can realize red date automation, quick nondestructive, the classification of inside and outside quality multiple determination.
Accompanying drawing explanation
Accompanying drawing 1 is structural representation of the present invention;
Accompanying drawing 2 is the partial structurtes schematic diagram of middle roll transporting chain plate device (2) of the present invention;
Accompanying drawing 3 is logic theory block diagram of the present invention;
Accompanying drawing 4 is the structural representation of fruit automatic weighting packaging system in the present invention;
Accompanying drawing 5 is the top view of fruit automatic weighting packaging system in the present invention;
Accompanying drawing 6 is the main control flow chart of fruit automatic weighting packaging system control unit in the present invention.
Detailed description of the invention
As shown in Figure 1, 2, 3, the present invention is that a kind of red date based on machine vision technique can't harm automatic grader, comprise NI Vision Builder for Automated Inspection, also comprise running roller transporting chain plate device 2, at the feed end of this running roller transporting chain plate device 2, elevating hopper 1 is installed, the illumination of NI Vision Builder for Automated Inspection and CCD camera unit 5 are arranged on above this running roller transporting chain plate device 2, thus can take the red jujube image on running roller transporting chain plate device 2; In running roller transporting chain plate device 2 side at this illumination and CCD camera unit 5 rear, some classification transfer passages 8 are installed, and at this running roller transporting chain plate device 2 opposite side, executing agency is installed, this executing agency is connected with the Industrial Control Computer 4 of described NI Vision Builder for Automated Inspection, thus according to the image of shooting, red date is blown into corresponding classification transfer passage 8.
Wherein NI Vision Builder for Automated Inspection comprises illumination and CCD camera unit 5, video frequency collection card, Industrial Control Computer 4(and industrial computer), Industrial Control Computer 4 is wherein connected with PLC, and this PLC is connected with executing agency by control relay circuit.Executing agency adopts pneumatic actuator, and comprise the high-pressure air source device 6 by pipeline connection and air nozzle 7, the controller of this high-pressure air source device 6 is connected with control relay circuit.
One section that on running roller transporting chain plate device 2, red date to be fractionated runs is made up of an oblique ascent stage and a horizontal segment, described illumination and CCD camera unit 5 are arranged on above this horizontal segment, and air nozzle 7 and classification transfer passage 8 are arranged on the both sides of this horizontal segment respectively.A flexible rubbing plate 3 is installed with in addition below the oblique ascent stage of running roller transporting chain plate device 2, its base plate is rigid, rigid surface is fixed with the spongy layer of 2-3cm, and the roll shaft 11 that surface and this oblique ascent stage of this flexible rubbing plate 3 are located contacts, thus can be with action roller shaft 11 rotation; And being also installed with a flexible rubbing plate 3 at the horizontal down of running roller transporting chain plate device 2, the roll shaft 11 that surface and this oblique ascent stage of this flexible rubbing plate 3 are located contacts, thus can be with action roller shaft 11 rotation.
Its middle roll transporting chain plate device 2 comprises chain-drive mechanism, this chain-drive mechanism is provided with two parallel and driving-chains 12 be synchronized with the movement, between these two driving-chains 12, some roll shafts 11 are installed, the two ends of each roll shaft 11 are all arranged on two driving-chains 12 by bearing, thus make each roll shaft 11 all can around its axle rotation, the groove of a ring-type is equipped with in addition in the centre of each roll shaft 11, thus the pit that formation one is corresponding to single red date size between adjacent two roll shafts 11, pit is roughly ellipse, long axis direction 3-4cm, maximum about spacing 1cm.
The sprocket wheel of chain-drive mechanism is in transmission connection by transmission mechanism, decelerator and motor 10 successively.Be provided with proximity switch or optoelectronic switch 9 at least one sprocket wheel side of chain-drive mechanism in addition, this proximity switch or optoelectronic switch 9 are connected with the Industrial Control Computer 4 in NI Vision Builder for Automated Inspection.
Operation principle of the present invention is:
The fresh jujube fruit of plucking is deposited in elevating hopper 1, roll shaft 11 is fixed on carrier chain and forms transporting chain plate, jujube fruit is with in running roller transporting chain plate device 2 upwards lifting process, bulk deposition is on transporting chain plate, roll shaft 11 self has certain radian, form a pit between any two roll shafts 11, pit size only can make a jujube fruit stable position; There is certain proper angle the oblique ascent stage of transporting chain plate, and angle is about 30-40 °, and the jujube fruit of stable position can be made with transporting chain plate transmission, the jujube fruit landing downwards of astable position.
Below the oblique ascent stage and horizontal segment of running roller transporting chain plate device 2, flexible rubbing plate 3 is housed, produce with running roller and rub, it is made constantly to rotate in running, running roller is rubbing jujube fruit again, part jujube fruit is stable at potential energy extreme lower position between carrier bar two running roller gradually in rotary course, because only holding a jujube fruit stable position between two running roller pit arcs, the jujube fruit of other less stable tumbles downwards along transporting chain plate inclined-plane, again finds settling position.The jujube fruit arragement direction of stable position is consistent, image acquisition areas is entered with transporting chain plate, flexible rubbing plate 3 is installed below the running roller of image acquisition areas equally, while rubbing roll shaft rotates, running roller frictional force makes jujube fruit constantly rotate in course of conveying, and make CCD camera repeatedly can take the different surfaces of same jujube fruit, image information sends into industrial computer, after software analysis, the information such as surface size, shape, damage of jujube fruit can be obtained.Finally utilize information fusion technology to obtain the outside integrated quality grade of jujube fruit, give pneumatic type graded executing mechanism.
Whether such as independent have damage to classify, specifically to damage≤1 place and damaged area≤2mm for jujube fruit surface
2for standard, what exceed this standard is decided to be substandard product, and judgement should enter substandard product classification passage, otherwise then judges the classification passage entering qualified products.
When jujube fruit is transported to respective level passage, air nozzle 7 blows into corresponding classification transfer passage 8 jujube fruit and completes classification.
Running roller transporting chain plate device 2 adopts driving-chain 12(and chain) drive, sprocket shaft installs induction sprocket wheel and sensor, the movable information of driving-chain 12 is sent to industrial computer, driving-chain 12 often passes by the triggering of a chain link sensor counting once, triggering signal can control CCD camera and carry out IMAQ, and count results produces classification action for controlling pneumatic type graded executing mechanism at passage place, respective level position.Owing to throwing light on and having certain distance between CCD camera unit 5 and air nozzle 7, therefore industrial computer show that image processing result is temporary in industrial computer buffer memory, when red date is transported to respective level classification position, sensor has counted, and release control signal completes classification and performs an action.
As shown in Figure 4,5, 6, the present invention also comprises fruit automatic weighting packaging system, comprises feed unit 1, and this feed unit 1 is made up of the conveyer belt of three different amount of feeding, and the controller of each conveyer belt is all electrically connected with control unit.All conveyer belts all adopt to go up a slope to run and arrange, and and flexible baffle is installed on the conveyor belt, thus prevent fruit landing, and conveyer belt each feeding fruit that the amount of feeding is minimum.
In the exit of this feed unit 1, hopper 3 is installed, below this hopper 3, LOAD CELLS 2 is installed, specifically below hopper 3, be evenly equipped with 3 LOAD CELLSs 2, namely one end of these 3 LOAD CELLSs 2 is fixed and hopper 3 supports by the other end jointly, and these 3 LOAD CELLSs 2 lay respectively at both sides and totally 3 positions, centre of hopper 3.
And bottom this hopper 3, movable floor 5 is installed, specifically this movable floor 5 is hinged on hopper 3, and this movable floor 5 is also connected with the piston rod of switching mechanism 4 thus base plate can be made to rotate thus open or close hopper 3, this switching mechanism 4 adopts cylinder or oil cylinder, and the controller of this switching mechanism 4 is electrically connected with described control unit.
Below this movable floor 5, be also provided with packing case conveyer belt 8, this packing case conveyer belt 8 placed packing case 6 place position-sensing switch 7 is installed; Also comprise control unit, this control unit is electrically connected with the controller of the controller of aforementioned feed unit 1, LOAD CELLS 2, position-sensing switch 7 and packing case conveyer belt 8 respectively.Control unit adopts the realization such as single-chip microcomputer or PLC, is provided with shock absorbing rubber in addition at LOAD CELLS 2 and the junction of hopper 3.
Wherein on hopper 3 inner surface, post flexible material, as soft silica gel, high-density sponge etc. with fruit contact position.Packing case conveyer belt 8 is provided with baffle plate, thus packing case 6 can be driven to be synchronized with the movement together.
In the present invention, three conveyer belts load fruit amount difference, and respectively have a set of transmission system, it runs and controls separately by each self-controller, as shown in Figure 2, Article 3 (third channel) conveying capacity is maximum from top to bottom, Article 1, (first passage) conveying capacity is taken second place, and middle Article 2 (second channel) conveying capacity is minimum, and each amount of feeding is only 1 fruit.In addition three LOAD CELLSs 2 are arranged on respectively three of hopper 3 not on ipsilateral, reasonable distribution is carried out to LOAD CELLS 2 load, guarantee the stability that hopper 3 is supported, consider the impact of mechanism action to LOAD CELLS 2 simultaneously, adopt rubber to do damping process at LOAD CELLS 2 and the junction of hopper 3.
Three LOAD CELLSs 2 send signal to the fruit from different conveyer belt according to actual needs respectively, to ensure the action of follow-up executing agency.After fruit enters hopper 3, by the action of cylinder, the movable floor 5 below hopper 3 is made to open discharging.In order to prevent fruit from damaging when falling into hopper 3, devising the padded coaming of environmental-protecting material at hopper 3 inner surface wall, thus ensure that the intact of fruit preferably.Packing case conveyer belt 8 adopts chain to carry, and carrier bar installs a baffles every a segment distance, can promote packing case 6 and carrier chain synchronous operation.
In the present invention, the operation principle of fruit automatic weighting packaging system is:
Article three, the feed end of conveyer belt is all communicated with the discharge end of same classification transfer passage 8, article three, the hopper 3 supported by three LOAD CELLSs 2 all sent into by fruit by conveyer belt, open for rotating bottom hopper 3, the controlled activity base plate 5 closed, movable floor 5 times outlets are just to packing case 6, when hopper 3 weight reaches rated capacity, (hopper 3 is by three weight sensor common support for three LOAD CELLS 2 triggering signals, therefore three sensor values are only the weight of whole hopper 3 after being added), sending instruction by control unit makes movable floor 5 overturn, fruit falls to entering in packing case 6.
For red date, according to oxed weight requirement, when red date weight in hopper 3 reach specified weigh 90% before, three conveyer belts work simultaneously, when reach specified weigh 90% time, a conveyer belt of maximum quits work, exceed and specifiedly weigh after 99%, a conveyer belt of medium conveying capacity also quits work, the conveyer belt work that only conveying capacity is minimum, its each amount of feeding is 1 red date, therefore can control oxed weight error within the weight of 1 red date.
Wherein the operation of packing case 6 is jointly controlled by LOAD CELLS 2 setting value and position-sensing switch 7, and when the packing case 6 of sky is delivered to movable floor 5 position just to hopper 3, position-sensing switch 7 disconnects, and packing case conveyer belt 8 is out of service; Start timing when hopper 3 weight reaches setting value, the fruit in timing course in hopper 3 falls into packing case 6, and the vanning time is 5s, and timing completes, and packing case conveyer belt 8 drives the packing case 6 filling fruit again to bring into operation.
Claims (1)
1. one kind can't harm automatic grader based on the red date of machine vision technique, comprise NI Vision Builder for Automated Inspection, comprise running roller transporting chain plate device (2), at the feed end of this running roller transporting chain plate device (2), elevating hopper (1) is installed, the illumination of described NI Vision Builder for Automated Inspection and CCD camera unit (5) are arranged in this running roller transporting chain plate device (2) top, thus can take the red jujube image on running roller transporting chain plate device (2); In running roller transporting chain plate device (2) side at this illumination and CCD camera unit (5) rear, some classification transfer passages (8) are installed, and at this running roller transporting chain plate device (2) opposite side, executing agency is installed, this executing agency is connected with the Industrial Control Computer (4) of described NI Vision Builder for Automated Inspection, thus according to the image of shooting, red date is sent into corresponding classification transfer passage (8), it is characterized in that:
Industrial Control Computer (4) wherein in NI Vision Builder for Automated Inspection is connected with PLC, and this PLC is connected with executing agency by control relay circuit;
Wherein executing agency comprises high-pressure air source device (6) by pipeline connection and air nozzle (7);
One section of the upper red date operation to be fractionated of its middle roll transporting chain plate device (2) is made up of an oblique ascent stage and a horizontal segment, and described illumination and CCD camera unit (5) are arranged on above this horizontal segment;
Its middle roll transporting chain plate device (2) comprises chain-drive mechanism, this chain-drive mechanism is provided with two parallel and driving-chains be synchronized with the movement (12), between these two driving-chains (12), some roll shafts (11) are installed, the two ends of each roll shaft (11) are all arranged on two driving-chains (12) by bearing, thus make each roll shaft (11) all can around its axle rotation, the groove of a ring-type is equipped with in addition in the centre of each roll shaft (11), thus the pit that formation one is corresponding to single red date size between adjacent two roll shafts (11);
Wherein the sprocket wheel of chain-drive mechanism is in transmission connection by transmission mechanism, decelerator and motor (10) successively; Be provided with proximity switch or optoelectronic switch (9) at least one sprocket wheel side of chain-drive mechanism in addition, this proximity switch or optoelectronic switch (9) are connected with the Industrial Control Computer (4) in NI Vision Builder for Automated Inspection;
Wherein below the oblique ascent stage of running roller transporting chain plate device (2), be installed with a flexible rubbing plate, the roll shaft (11) that surface and this oblique ascent stage of this flexible rubbing plate (3) are located contacts, thus can be with action roller shaft (11) rotation; And below the horizontal segment of running roller transporting chain plate device (2), being also installed with a flexible rubbing plate (3), the surface of this flexible rubbing plate (3) contacts with the roll shaft (11) at this horizontal segment place, thus can be with action roller shaft (11) rotation; This flexible rubbing plate (3) comprises base plate, is coated with the thick spongy layer of 2-3cm at this backplate surface;
Wherein at the discharge end of classification transfer passage (8), fruit automatic weighting packaging system is also installed, this fruit automatic weighting packaging system comprises feed unit (101), in the exit of this feed unit (101), hopper (103) is installed, in this hopper (103) below, LOAD CELLS (102) is installed, and in this hopper (103) bottom, movable floor (105) is installed, packing case conveyer belt (108) is also provided with in this movable floor (105) below, packing case (106) place placed by this packing case conveyer belt (108) position-sensing switch (107) is installed,
Also comprise control unit, this control unit is electrically connected with the controller of the controller of aforementioned feed unit (101), LOAD CELLS (102), packing case conveyer belt (108) and position-sensing switch (107) respectively;
Wherein feed unit (101) is made up of the conveyer belt of three different amount of feeding, and the controller of each conveyer belt is all electrically connected with described control unit, and the conveyer belt that wherein amount of feeding is minimum each feeding fruit;
Wherein movable floor (105) is hinged on hopper (103), and this movable floor (105) is also connected with the piston rod of switching mechanism (104) thus base plate can be made to rotate to open or close hopper (103), this switching mechanism (104) adopts cylinder or oil cylinder, and the controller of this switching mechanism (104) is electrically connected with described control unit;
Wherein all conveyer belts all adopt to go up a slope to run and arrange, and and flexible baffle is installed on the conveyor belt, thus prevent fruit landing, hopper (103) inner surface post flexible material with fruit contact position; Packing case conveyer belt (108) is provided with baffle plate, thus packing case (106) can be driven to be synchronized with the movement together; Be evenly equipped with 3 LOAD CELLSs (102) in hopper (103) below, and these 3 LOAD CELLSs (102) lay respectively at both sides and the centre position of hopper (103); Wherein control unit adopts single-chip microcomputer or PLC, is provided with shock absorbing rubber in addition at LOAD CELLS (102) and the junction of hopper (103).
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| CN201310207720.0A CN103240228B (en) | 2013-05-30 | 2013-05-30 | Red date based on machine vision technique can't harm automatic grader |
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