阅读说明：本技术 一种基于机器视觉的芒果分级装置 (mango grading device based on machine vision ) 是由 向阳 李亚军 林洁雯 熊瑛 陈益千 于 2018-07-19 设计创作，主要内容包括：本发明公开了一种基于机器视觉的芒果分级装置。基于机器视觉的芒果分级装置包括机架、入料装置、输送装置、柔性翻面机构、图像采集装置、分级出料装置、传动系统和控制系统。输送装置包括上下两层,采用垂直叠置方式安装,并分别设置有图像采集装置用于采集芒果的正反两面图像。上下两层输送装置通过柔性翻面机构连接,芒果经过上层输送装置后进入柔性翻面机构翻面再进入下层输送装置。系统综合正、反两面的成熟度及缺陷信息,获得芒果等级,通过分级出料装置实现芒果分级出料。与现有技术相比,本发明实现了不规则水果的视觉无损检测,具有分级效率高、减轻劳动力、自动化程度高的优点。(The invention discloses mango grading devices based on machine vision, which comprises a rack, a feeding device, a conveying device, a flexible turning mechanism, an image acquisition device, a grading discharging device, a transmission system and a control system, wherein the conveying device comprises an upper layer and a lower layer, the upper layer and the lower layer are vertically stacked and are respectively provided with the image acquisition device for acquiring images of the front side and the back side of a mango, the upper layer and the lower layer are connected through the flexible turning mechanism, the mango enters the flexible turning mechanism after passing through the upper layer conveying device, is turned over and then enters the lower layer conveying device, and the system integrates maturity and defect information of the front side and the back side to obtain mango grades and realizes grading discharging of the mango through the grading discharging device.)

The mango grading device based on machine vision is characterized in that the conveying device comprises an upper layer conveying device and a lower layer conveying device, the upper layer conveying device and the lower layer conveying device are installed on the rack in a vertical overlapping mode and are connected through the flexible overturning mechanism, the mangos enter the lower layer conveying device through overturning of the flexible overturning mechanism after passing through the upper layer conveying device, the image collecting devices are arranged on the upper layer conveying device and the lower layer conveying device and are respectively used for collecting front and back images of the mangos, and the control system comprehensively analyzes and judges mango grades through the images on the front and back sides of the mangos and controls the grading discharging device to perform corresponding actions to realize mango grading.

2. The mango grading device based on machine vision as claimed in claim 1, wherein the flexible turn-over mechanism is composed of a turn-over conveyor belt group, a roller, a carrier roller, an adaptive roller and a spring, the turn-over conveyor belt group is composed of two conveyor belts with the same movement speed and opposite movement directions, the conveyor belts are oppositely installed and tightly attached to , mango turn-over is realized by clamping and conveying the mango, the adaptive roller is installed on a guide rod of the frame and can transversely slide on the guide rod to adapt to the mango with different sizes, and the spring is connected with the adaptive roller to maintain a proper clamping force between the turn-over conveyor belt groups.

3. The mango grading device based on machine vision as claimed in claim 1, wherein the feeding device comprises a hopper and a guiding mechanism, the hopper is installed at the upper front end of the upper layer conveying device, and the guiding mechanism is composed of two guiding plates installed in a splayed shape in front and back.

4. The mango grading device based on machine vision as claimed in claim 1, wherein the image acquisition device comprises an upper image acquisition device and a lower image acquisition device, the upper image acquisition device comprises an industrial camera and a light source, the light source adopts four strip-shaped LED lamps in a square arrangement, and the lower image acquisition device is the same as the upper image acquisition device.

5. The mango grading device based on machine vision as claimed in claim 1, wherein the grading and discharging device has 3 groups of discharging mechanisms, the 3 groups of discharging mechanisms are installed at the rear section of the lower layer conveying device at equal intervals, each 1 group of discharging mechanisms includes a push-pull electromagnet, a flexible push plate and a discharging hopper, the push-pull electromagnet is installed at side of the lower layer conveying device, the installation direction is perpendicular to the conveying direction of the lower layer conveying device, the flexible push plate is connected with the push-pull electromagnet, the discharging hopper is installed at the other side of the lower layer conveying device, and the installation position is on the same center line of with the push-pull electromagnet.

6. The mango grading device based on machine vision as claimed in claim 1, wherein the transmission system comprises a motor, a chain and a chain wheel set, the chain is , the chain wheel set comprises a plurality of chain wheels, the chain wheels are respectively connected with the upper layer conveying device, the lower layer conveying device, the flexible turn-over mechanism and the motor, and all the chain wheels in the chain wheel set are connected with the chain to ensure the motion synchronism of all moving parts.

7. The mango grading device based on machine vision as claimed in claim 1, wherein the control system comprises a feeding sensor, a discharging sensor, an industrial computer, and an IO card, the feeding sensor comprises an upper feeding sensor and a lower feeding sensor, both of which adopt infrared correlation sensors, and are respectively installed in front of the upper image acquisition device and the lower image acquisition device for triggering the industrial camera to acquire images, the discharging sensor adopts an infrared correlation sensor, and is installed in front of the grading discharging device for triggering the grading discharging device to act, the feeding sensor, the discharging sensor and the grading discharging device are connected with the IO card, the IO card is connected with the industrial computer, and the industrial computer is connected with the industrial camera.

Technical Field

The invention relates to fruit grading technologies, in particular to devices for automatically detecting and grading mangos through machine vision.

Background

Mango is popular with consumers due to unique taste and high nutritional value, China is the second largest country of mango yield, mango planting areas are mainly distributed in the southern Hainan, West, east, Taiwan, Yunnan, Fujian and other tropical and subtropical areas, mango belongs to post-ripening fruits, can be effectively graded, can enhance benefits, and is more beneficial to the commercialized treatment of mango after the delivery.

However, mango grading faces difficulties, and in the face of huge mango yield, mango grading is generally carried out by manual or man-machine combination in China at the present stage , manual grading is large in workload, labor amount and efficiency, grading quality has strong dependence on grading experience and proficiency of workers, meanwhile, workers are easy to work and fatigue for a long time, and grading errors are caused, in addition, , due to irregular shape of mangos, automatic grading of mangos is difficult to realize by collecting multi-surface images by using machine vision, and the laggard grading technology causes great troubles to work such as after-ripening, packaging, transportation and the like of mangos.

At present, scientific research units and enterprises in China develop and develop fruit grading devices based on machine vision, but the fruit grading machines are mostly used for grading spherical fruits, mango shapes are irregular, comprehensive detection cannot be carried out on the original grading machines, meanwhile, the mango quality is soft, and the quality of the mango is difficult to guarantee by applying the existing devices.

Disclosure of Invention

Aiming at the problems in the prior art, the invention aims to avoid the defects in the prior art, and provides mango grading devices based on machine vision, which are used for detecting the whole appearance of a mango to realize grading aiming at the characteristics of irregular shape and soft texture of the mango.

mango grading devices based on machine vision comprise a rack, a feeding device, a conveying device, a flexible turning mechanism, an image acquisition device, a grading discharging device, a transmission system and a control system, and are characterized in that the conveying device comprises an upper conveying device and a lower conveying device, the upper conveying device and the lower conveying device are vertically arranged on the rack in an overlapping mode and are connected through the flexible turning mechanism, mangoes enter the lower conveying device through the flexible turning mechanism after passing through the upper conveying device, the upper conveying device and the lower conveying device are respectively provided with the image acquisition device for acquiring front and back images of the mangoes, and the control system comprehensively analyzes the images of the front and back sides of the mangoes to judge the grade of the mangoes and controls the grading discharging device to perform corresponding actions to realize grading of the mangoes.

The feeding device comprises a hopper and a material guiding mechanism, the hopper is installed at the front end of the upper side of the upper layer conveying device and used for receiving materials, the material guiding mechanism is composed of two material guiding plates which are arranged in a splayed mode, the guide plates are arranged in the front and at the back, and mangos can be longitudinally arranged along the conveying direction through the material guiding mechanism so as to facilitate subsequent image acquisition, turnover and discharging.

The flexible turnover mechanism comprises a turnover conveying belt group, a roller, a carrier roller, a self-adaptive roller and a spring, wherein the turnover conveying belt group is formed by oppositely mounting and tightly adhering two conveying belts with the same movement speed and opposite movement directions, mango enters the flexible turnover mechanism through an upper conveying device and moves for a half circle along an arc movement track under the clamping of the turnover conveying belt group so as to realize 180-degree turnover, and then enters a lower conveying device.

The image acquisition device comprises an upper-layer image acquisition device and a lower-layer image acquisition device, the upper-layer image acquisition device comprises an industrial camera and a light source, the light source adopts four strip-shaped LED lamps to be arranged in a square shape, and the lower-layer image acquisition device is the same as the upper-layer image acquisition device.

The grading discharging device is provided with 3 groups of discharging mechanisms, the 3 groups of discharging mechanisms are arranged at the rear section of the lower-layer conveying device at equal intervals, each 1 group of discharging mechanisms comprises a push-pull electromagnet, a flexible push plate and a discharging hopper, the push-pull electromagnets are arranged on the side of the lower-layer conveying device, the mounting direction is perpendicular to the conveying direction of the lower-layer conveying device, the flexible push plate is connected with the push-pull electromagnets, the discharging hopper is arranged on the other side of the lower-layer conveying device, the mounting position of the discharging hopper and the push-pull electromagnets are on the same central line, the push-pull electromagnets are pushed out during discharging, and mangoes on the conveying device are pushed to the corresponding discharging hoppers through the flexible.

The transmission system comprises a motor, a chain and a chain wheel set, wherein the chain is , the chain wheel set comprises a plurality of chain wheels, the chain wheel set is respectively connected with the upper-layer conveying device, the lower-layer conveying device, the flexible turnover mechanism and the motor, and all the chain wheels in the chain wheel set are connected with the chain to ensure the motion synchronism of all moving parts.

Control system include pan feeding sensor, ejection of compact sensor, industrial computer, IO card, the pan feeding sensor includes upper pan feeding sensor and lower floor's pan feeding sensor, all adopts infrared correlation sensor, installs respectively upper image acquisition device and lower floor's image acquisition device's the place ahead is used for triggering industry camera acquisition image, ejection of compact sensor adopts infrared correlation sensor, installs hierarchical discharging device's the place ahead is used for triggering hierarchical discharging device action, pan feeding sensor, ejection of compact sensor and hierarchical discharging device with the IO card is connected, the IO card with the industrial computer is connected, the industrial computer with the industrial camera is connected.

Compared with the prior art, the mango grading devices based on machine vision provided by the invention have the beneficial effects that aiming at the characteristic of irregular shape of mangos, a flexible turnover mechanism is adopted to realize automatic turnover of mangos, the upper layer and the lower layer of image acquisition devices are adopted to respectively acquire front and back images of the mangos, and the mango information is comprehensively analyzed and graded.

Drawings

Fig. 1 shows a front view of a mango grading device based on machine vision.

Fig. 2 shows a top view of a mango grading device based on machine vision.

Fig. 3 is a schematic view of the flexible turn-over mechanism.

Fig. 4 shows an isometric view of a mango grading device based on machine vision.

In the figure: 1. a drum; 2. a self-adaptive roller; 3. a spring; 4. a carrier roller; 5. turning over the conveyor belt group; 6. a frame; 7. a hopper; 8. a material guiding mechanism; 9. an upper layer conveying device; 10. an upper layer feeding sensor; 11. an industrial camera; 12. a sprocket set; 13. a chain; 14. a lower layer feeding sensor; 15. a motor; 16. a lower layer conveying device; 17. a discharge sensor 18, a flexible push plate; 19. a discharge hopper; 20. a light source; 21. push-pull electromagnets.

Detailed Description

The invention is further described with reference to the drawings.

The front view of the mango grading device based on machine vision is shown in fig. 1, the top view of the mango grading device based on machine vision is shown in fig. 2, mangos with a certain quantity are placed in a hopper 7, an upper layer conveying device 9 conveys the mangos to pass through a material guide mechanism 8, mango systems in different directions and different positions are arranged along the conveying direction and pass through one by one, when the mangos approach an upper layer image acquisition device, an upper layer feeding sensor 10 triggers an industrial camera 11 to acquire a front image of the mangos, and a light source 20 supplements light for the image acquisition device.

In the invention, in order to realize double-sided image acquisition, mangos enter the flexible turn-over mechanism under the clamping of the turn-over conveyor belt group 5 with opposite movement direction and same movement speed, a roller 1 provides power for the turn-over conveyor belt group 5, a carrier roller 4 provides supporting force for the turn-over conveyor belt group 5, a spring 3 adjusts the position of the self-adaptive roller 2 according to the shape of the mangos so as to keep the clamping force of the mangos in turn-over movement, and the flexible turn-over mechanism enables the mangos to be turned over flexibly and only times.

The mango grading device based on machine vision is in axonometric view as shown in fig. 4, mango enters a lower-layer conveying device 16 after being turned over, a lower-layer feeding sensor 14 receives signals and collects a reverse image through a lower-layer image collecting device, a control system combines a mango double-side image for grading, and a user can check mango images and grading information in real time through an industrial computer. When the discharging sensor 17 receives a signal, the grading discharging device drives the corresponding push-pull electromagnet 21 to drive the flexible push plate 18 to synchronously move according to the grade of the mangoes, so that the mangoes are pushed into the specified discharging hopper 19, and grading of the mangoes is realized.

Although the present invention has been described in connection with the accompanying drawings, those skilled in the art will be able to make various modifications and variations without departing from the spirit and scope of the invention, and such modifications and variations fall within the scope defined by the appended claims.