Detection device for peanuts
阅读说明：本技术 一种用于花生果的检测装置 (Detection device for peanuts ) 是由 周虎林 刘昌进 方杰 于 2020-08-20 设计创作，主要内容包括：本发明公开了一种用于花生果的检测装置,通过设置的检测箱、转柱、传送带、第一摄像头、第二摄像头和第三摄像头的配合使用,分别利用第一摄像头、第二摄像头和第三摄像头获取第一传送座、第二传送座和第三传送座上花生果的图像,利用图像识别算法获取图像上花生果的颜色,得到颜色特征,将若干个颜色特征组合,得到花生果的颜色信息,获取若干个花生果的长度数据和宽度数据,将若干个花生果的长度数据和宽度数据组合,得到花生果的形态信息；将颜色信息和形态信息组合,得到花生果的特征信息,通过对花生果的颜色信息和形态信息综合考虑,可以有效提高对花生果的检测效果,克服了现有方案中对花生果检测的效果不佳的缺陷。(The invention discloses a peanut detection device, which is characterized in that a detection box, a rotary column, a conveyor belt, a first camera, a second camera and a third camera are arranged and matched for use, the first camera, the second camera and the third camera are respectively used for acquiring images of peanuts on a first conveying seat, a second conveying seat and a third conveying seat, an image recognition algorithm is used for acquiring the color of the peanuts on the images to obtain color characteristics, a plurality of color characteristics are combined to obtain the color information of the peanuts, the length data and the width data of the plurality of peanuts are acquired, and the length data and the width data of the plurality of peanuts are combined to obtain the form information of the peanuts; the color information and the form information are combined to obtain the characteristic information of the peanuts, the detection effect of the peanuts can be effectively improved by comprehensively considering the color information and the form information of the peanuts, and the defect that the effect of detecting the peanuts in the existing scheme is poor is overcome.)
1. The peanut detection device is characterized by comprising a detection box (1), a rotary column (14), a conveyor belt (15), a first camera (11), a second camera (12) and a third camera (13), wherein the rotary column (14) is rotatably connected inside the detection box (1), the conveyor belt (15) is rotatably connected to the outer surface of the rotary columns (14), the first camera (11), the second camera (12) and the third camera (13) are all arranged at the position, close to the upper end, of the inner surface of the detection box (1), the second camera (12) is located at the position between the first camera (11) and the third camera (13), the first camera (11) is located at one side of the third camera (13), a first connecting plate (8) is connected between the first camera (11) and the detection box (1), a second connecting plate (9) is connected between the second camera (12) and the detection box (1), and a third connecting plate (10) is connected between the third camera (13) and the detection box (1);
the utility model discloses a detection case, including detection case (1), position fixed mounting that the internal surface of detection case (1) is close to both sides has first spliced pole (16) and second spliced pole (17), first spliced pole (16) are located the rear of second spliced pole (17), the one end that detection case (1) were kept away from in first spliced pole (16) is connected with first light (18), the one end that detection case (1) were kept away from in second spliced pole (17) is connected with second light (19).
2. The peanut detection device as claimed in claim 1, wherein a plurality of clamping rings (7) are fixedly mounted on the outer surface of the detection box (1) close to the front, a motor is mounted on the outer surface of the detection box (1) close to the rear, a support base (2) is mounted at the lower end of the detection box (1), and a plurality of first support columns (3) are fixedly mounted at the lower end of the support base (2).
3. The peanut detection device as claimed in claim 1, wherein a material guide pipe (5) is connected to one side of the detection box (1), a storage box (4) is connected to one side of the material guide pipe (5) far away from the detection box (1), and a plurality of second support columns (6) are fixedly mounted at the lower end of the storage box (4).
4. A peanut detection device according to claim 1, characterized in that the upper end of the conveyor belt (15) is fixedly provided with a conveyor clamp plate (1501) near the middle, the upper end of the conveyor belt (15) is fixedly provided with a first isolation strip (20) and a second isolation strip (21) near the two sides, the upper end of the conveyor clamp plate (1501) is provided with a first conveyor seat (22), a second conveyor seat (23), a third conveyor seat (24) and a plurality of isolation plates (25), the second conveyor seat (23) is positioned between the first conveyor seat (22) and the third conveyor seat (24), the first conveyor seat (22) is positioned at one side of the third conveyor seat (24), and the plurality of isolation plates (25) are positioned between the first conveyor seat (22), the second conveyor seat (23) and the third conveyor seat (24), the upper ends of the first conveying seat (22), the second conveying seat (23) and the third conveying seat (24) are provided with a plurality of accommodating grooves (26).
5. The peanut detection device as claimed in claim 1, wherein a database, a processor, a data acquisition module, a data processing module, a data analysis module, a display module and a data transmission module are arranged in the detection box (1) near the upper position, the database is used for storing preset peanut information, the processor is used for processing data calculation, and the data acquisition module is used for acquiring characteristic information of peanuts on the conveyor belt (15), and the characteristic information comprises color information and shape information of the peanuts;
the data processing module is used for processing the characteristic information to obtain characteristic processing information and sending the characteristic processing information to the data analysis module;
the data analysis module is used for analyzing the feature processing information to obtain feature analysis information and sending the feature analysis information to the display module;
the display module is used for displaying the characteristic analysis information;
the data transmission module is used for transmitting data among the modules.
6. The peanut detection device as claimed in claim 5, wherein the data acquisition module is configured to acquire peanut characteristic information on the conveyor belt, and the specific steps include:
s61: respectively acquiring images of peanuts on a first conveying seat (22), a second conveying seat (23) and a third conveying seat (24) by using a first camera (11), a second camera (12) and a third camera (13);
s62: obtaining the color of peanuts in the image by using an image recognition algorithm to obtain color characteristics, and combining a plurality of color characteristics to obtain the color information of the peanuts;
s63: acquiring length data and width data of a plurality of peanuts, and combining the length data and the width data of the plurality of peanuts to obtain form information of the peanuts;
s64: and combining the color information and the shape information to obtain the characteristic information of the peanuts.
7. The device as claimed in claim 5, wherein the data processing module is configured to process the feature information to obtain feature processing information, and the specific steps include:
s71: acquiring characteristic information, setting color information in the characteristic information as color data, and marking the color data as YTi, wherein i is 1,2,3. Setting form information in the feature information as form data, and marking the form data as TTi, i is 1,2,3.
S72: comparing the color data with standard color data preset in a database through a processor to obtain color comparison data;
s73: obtaining the form value of the peanuts by using a form calculation formula, wherein the form calculation formula comprises the following steps:
wherein is represented by QHXiExpressing as the shape value of the peanut, HCi as the length value in the length data, HKi as the width value in the width data, alpha as the preset peanut shape factor, and the value of the peanut shape factor is 0.36491;
s74: comparing the form value with standard form data preset in a database through a processor to obtain form comparison data;
s75: and combining the color contrast data and the form contrast data to obtain the characteristic processing information.
8. The device as claimed in claim 5, wherein the data analysis module is configured to analyze the feature processing information to obtain feature analysis information, and the specific steps include:
s81: acquiring characteristic processing information, and marking color contrast data in the characteristic processing information as YTBi, i-1, 2,3.. n; marking morphology comparison data in the feature processing information as TTBi, i ═ 1,2,3.. n;
s82: analyzing the color comparison data, and if the color features in the color comparison data belong to the first color detection features in the standard form database, generating first color detection data; if the color features in the color contrast data belong to second color detection features in the standard color database, generating second color detection data; if the color features in the color contrast data belong to third color detection features in the standard color database, generating third color detection data; combining the first color detection data, the second color detection data and the first color detection data to obtain color analysis data;
s83: analyzing the form comparison data, and if the form value in the form comparison data belongs to the first form detection characteristic in the standard form database, generating first form detection data; if the form value in the form comparison data belongs to a second form detection feature in the standard form database, generating second form detection data; combining the first morphological detection data and the second morphological detection data to obtain morphological analysis data;
s84: and combining the color analysis data and the morphological analysis data to obtain characteristic analysis information.
Technical Field
The invention relates to the technical field of crop detection, in particular to a detection device for peanuts.
Background
Peanuts are a traditional commodity and require about 10 million tons per year. The export peanuts are mainly used as food raw materials, and are hung on pine and cypress trees as a mascot when the peanuts pass through the christmas, or are given as gifts or used for roasting the peanuts. The peanut is a kind of annual herbaceous plant belonging to Arachis hypogaea of Leguminosae, and is native to Brazil and Peru in America, and the Ming dynasty is introduced into China, and the cultivation history has been over 400 years so far. The peanut seedlings are firstly introduced into China as small-fruited peanuts climbing tendrils, the large-fruited seeds cultivated at present are the tobacco platforms and the Paolai strips which are introduced into Shandong coastal areas from the end, and the peanut seedlings are gradually and widely popularized; the edible peanuts are popular in the international market, and are two-kernel large peanuts; the peanut needs to keep the peel clean, has no dust and impurities, and is selected to remove immature fruits, damage fruits and crush fruits. Smooth peel without pits should not be too thin, and the breakage during baking can be reduced.
Publication number CN111250425A discloses a detection device for sorting peanuts, comprising a color sensor mounting rack and a color sensor control assembly, wherein the color sensor control assembly is mounted on the color sensor mounting rack; the color sensor mounting frame comprises a hollow first mounting component, a hollow second mounting component and a supporting frame, wherein the first mounting component and the second mounting component are mounted on the supporting frame in parallel, and a gap is formed between the first mounting component and the second mounting component; the color sensor control assembly comprises an illumination light source, a color sensor and a single chip microcomputer. The detection device for peanut sorting is provided with the upper detection part and the lower detection part, so that the upper surface and the lower surface of peanuts can be detected, and the detection accuracy is improved. And adopt the color sensor subassembly as the detection part, can carry out the comprehensive detection of surface color to each peanut, and its price is lower, has reduced peanut letter sorting system's cost. The existing defects include: the problem of poor detection effect in the peanut transportation process exists.
Disclosure of Invention
The invention aims to provide a detection device for peanuts, and solves the technical problems that:
how to solve the not good problem of effect that detects in the peanut transportation.
The purpose of the invention can be realized by the following technical scheme:
a detection device for peanuts comprises a detection box, rotary columns, a conveyor belt, a first camera, a second camera and a third camera, wherein the rotary columns are rotatably connected inside the detection box, the conveyor belt is rotatably connected to the outer surfaces of a plurality of rotary columns, the first camera, the second camera and the third camera are all installed on the inner surface of the detection box at positions close to the upper end, the second camera is located between the first camera and the third camera, the first camera is located on one side of the third camera, a first connecting plate is connected between the first camera and the detection box, a second connecting plate is connected between the second camera and the detection box, and a third connecting plate is connected between the third camera and the detection box;
the position fixed mounting that the internal surface of detection case is close to both sides has first spliced pole and second spliced pole, first spliced pole is located the rear of second spliced pole, the one end that the detection case was kept away from to first spliced pole is connected with first light, the one end that the detection case was kept away from to the second spliced pole is connected with the second light.
Further, the surface of detection case is close to the fixed position in the place ahead and has a plurality of clamp ring, the motor is installed to the surface of detection case near the position in rear, the supporting seat is installed to the lower extreme of detection case, the lower extreme fixed mounting of supporting seat has the first support column of a plurality of.
Furthermore, one side of the detection box is connected with a material guide pipe, one side of the material guide pipe, which is far away from the detection box, is connected with a storage box, and a plurality of second support columns are fixedly mounted at the lower end of the storage box.
Further, the upper end of conveyer belt is close to the fixed position of centre and has the conveying splint, the fixed position that the upper end of conveyer belt is close to both sides has first parting bead and second parting bead, the upper end of conveying splint is provided with first transmission seat, second transmission seat, third transmission seat and a plurality of division board, second transmission seat is located the position between first transmission seat and the third transmission seat, first transmission seat is located one side of third transmission seat, a plurality of the division board is located the position between first transmission seat, second transmission seat and the third transmission seat, the upper end of first transmission seat, second transmission seat and third transmission seat all is provided with a plurality of and accomodates the groove.
Furthermore, a database, a processor, a data acquisition module, a data processing module, a data analysis module, a display module and a data transmission module are arranged in the detection box and close to the upper part, the database is used for storing preset peanut information, the processor is used for processing data calculation, the data acquisition module is used for acquiring characteristic information of peanuts on the conveying belt, and the characteristic information comprises color information and form information of the peanuts;
the data processing module is used for processing the characteristic information to obtain characteristic processing information and sending the characteristic processing information to the data analysis module;
the data analysis module is used for analyzing the feature processing information to obtain feature analysis information and sending the feature analysis information to the display module;
the display module is used for displaying the characteristic analysis information;
the data transmission module is used for transmitting data among the modules.
Further, the data acquisition module is used for gathering the characteristic information of peanut on the conveyer belt, and concrete step includes:
s61: respectively acquiring images of peanuts on a first conveying seat, a second conveying seat and a third conveying seat by using a first camera, a second camera and a third camera;
s62: obtaining the color of peanuts in the image by using an image recognition algorithm to obtain color characteristics, and combining a plurality of color characteristics to obtain the color information of the peanuts;
s63: acquiring length data and width data of a plurality of peanuts, and combining the length data and the width data of the plurality of peanuts to obtain form information of the peanuts;
s64: and combining the color information and the shape information to obtain the characteristic information of the peanuts.
Further, the data processing module is configured to process the feature information to obtain feature processing information, and the specific steps include:
s71: acquiring characteristic information, setting color information in the characteristic information as color data, and marking the color data as YTi, wherein i is 1,2,3. Setting form information in the feature information as form data, and marking the form data as TTi, i is 1,2,3.
S72: comparing the color data with standard color data preset in a database through a processor to obtain color comparison data;
s73: obtaining the form value of the peanuts by using a form calculation formula, wherein the form calculation formula comprises the following steps:
wherein is represented by QHXiExpressing as the shape value of the peanut, HCi as the length value in the length data, HKi as the width value in the width data, alpha as the preset peanut shape factor, and the value of the peanut shape factor is 0.36491;
s74: comparing the form value with standard form data preset in a database through a processor to obtain form comparison data;
s75: and combining the color contrast data and the form contrast data to obtain the characteristic processing information.
Further, the data analysis module is configured to analyze the feature processing information to obtain feature analysis information, and the specific steps include:
s81: acquiring characteristic processing information, and marking color contrast data in the characteristic processing information as YTBi, i-1, 2,3.. n; marking morphology comparison data in the feature processing information as TTBi, i ═ 1,2,3.. n;
s82: analyzing the color comparison data, and if the color features in the color comparison data belong to the first color detection features in the standard form database, generating first color detection data; if the color features in the color contrast data belong to second color detection features in the standard color database, generating second color detection data; if the color features in the color contrast data belong to third color detection features in the standard color database, generating third color detection data; combining the first color detection data, the second color detection data and the first color detection data to obtain color analysis data;
s83: analyzing the form comparison data, and if the form value in the form comparison data belongs to the first form detection characteristic in the standard form database, generating first form detection data; if the form value in the form comparison data belongs to a second form detection feature in the standard form database, generating second form detection data; combining the first morphological detection data and the second morphological detection data to obtain morphological analysis data;
s84: and combining the color analysis data and the morphological analysis data to obtain characteristic analysis information.
Compared with the prior art, the invention has the beneficial effects that:
according to the invention, the peanuts can be uniformly transported by matching the arranged conveying belt, the first conveying seat, the second conveying seat, the third conveying seat and the accommodating groove, the isolation plate has the effects of isolating and dividing the spaces, so that the peanuts are prevented from being stacked, the detection of the peanuts is facilitated, and the matching use of the arranged first illuminating lamp and the second illuminating lamp is convenient for image acquisition of the peanuts;
the method comprises the steps that through the matched use of a detection box, a rotary column, a conveyor belt, a first camera, a second camera and a third camera, the first camera, the second camera and the third camera are respectively used for obtaining images of peanuts on a first conveying seat, a second conveying seat and a third conveying seat, the colors of the peanuts on the images are obtained through an image recognition algorithm to obtain color characteristics, a plurality of color characteristics are combined to obtain color information of the peanuts, length data and width data of the peanuts are obtained, and the length data and the width data of the peanuts are combined to obtain form information of the peanuts; the color information and the form information are combined to obtain the characteristic information of the peanuts, the detection effect of the peanuts can be effectively improved by comprehensively considering the color information and the form information of the peanuts, and the defect that the effect of detecting the peanuts in the existing scheme is poor is overcome.
Drawings
In order to facilitate understanding for those skilled in the art, the present invention will be further described with reference to the accompanying drawings.
FIG. 1 is a schematic structural diagram of a peanut detecting device according to the present invention;
FIG. 2 is a schematic side cross-sectional view of the detection chamber of the present invention;
FIG. 3 is a schematic top view of the conveyor belt of the present invention;
FIG. 4 is a schematic view of the connection of the conveyor belt to the separator plate according to the present invention;
fig. 5 is a detection flow chart of the detection device for peanuts according to the present invention.
In the figure: 1. a detection box; 2. a supporting seat; 3. a first support column; 4. a storage box; 5. a material guide pipe; 6. A second support column; 7. a clamping ring; 8. a first connecting plate; 9. a second connecting plate; 10. a third connecting plate; 11. A first camera; 12. a second camera; 13. a third camera; 14. turning the column; 15. a conveyor belt; 1501. A transfer splint; 16. a first connecting column; 17. a second connecting column; 18. a second illumination lamp; 19. a second illumination lamp; 20. a first spacer; 21. a second spacer; 22. a first transfer base; 23. a second transfer base; 24. a third transfer base; 25. a separator plate; 26. a receiving groove.
Detailed Description
The technical solutions of the present invention will be described clearly and completely with reference to the following embodiments, and it should be understood that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
As shown in fig. 1-5, a detecting device for peanuts comprises a detecting box 1, a
the position fixed mounting that the internal surface of detection case 1 is close to both sides has first spliced pole 16 and second spliced
The utility model discloses a motor, including detection case 1, supporting seat 2, the lower extreme fixed mounting of supporting seat 2 has the first support column 3 of a plurality of, the surface of detection case 1 is close to the position fixed mounting in the place ahead has a plurality of
One side of the detection box 1 is connected with a material guide pipe 5, one side of the material guide pipe 5, which is far away from the detection box 1, is connected with a storage box 4, and the lower end of the storage box 4 is fixedly provided with a plurality of second support columns 6.
The upper end of
A database, a processor, a data acquisition module, a data processing module, a data analysis module, a display module and a data transmission module are arranged in the detection box 1 at a position close to the upper part, the database is used for storing preset peanut information, the processor is used for processing data calculation, the data acquisition module is used for acquiring characteristic information of peanuts on the
the data processing module is used for processing the characteristic information to obtain characteristic processing information and sending the characteristic processing information to the data analysis module;
the data analysis module is used for analyzing the feature processing information to obtain feature analysis information and sending the feature analysis information to the display module;
the display module is used for displaying the characteristic analysis information;
the data transmission module is used for transmitting data among the modules.
The data acquisition module is used for gathering the characteristic information of the peanut on the
s61: acquiring images of peanuts on a first conveying seat 22, a second conveying seat 23 and a third conveying seat 24 by using a
s62: obtaining the color of peanuts in the image by using an image recognition algorithm to obtain color characteristics, and combining a plurality of color characteristics to obtain the color information of the peanuts;
s63: acquiring length data and width data of a plurality of peanuts, and combining the length data and the width data of the plurality of peanuts to obtain form information of the peanuts;
s64: and combining the color information and the shape information to obtain the characteristic information of the peanuts.
The data processing module is used for processing the characteristic information to obtain characteristic processing information, and the specific steps comprise:
s71: acquiring characteristic information, setting color information in the characteristic information as color data, and marking the color data as YTi, wherein i is 1,2,3. Setting form information in the feature information as form data, and marking the form data as TTi, i is 1,2,3.
S72: comparing the color data with standard color data preset in a database through a processor to obtain color comparison data;
s73: obtaining the form value of the peanuts by using a form calculation formula, wherein the form calculation formula comprises the following steps:
wherein is represented by QHXiExpressing as the shape value of the peanut, HCi as the length value in the length data, HKi as the width value in the width data, alpha as the preset peanut shape factor, and the value of the peanut shape factor is 0.36491;
s74: comparing the form value with standard form data preset in a database through a processor to obtain form comparison data;
s75: and combining the color contrast data and the form contrast data to obtain the characteristic processing information.
The data analysis module is used for analyzing the feature processing information to obtain feature analysis information, and the specific steps comprise:
s81: acquiring characteristic processing information, and marking color contrast data in the characteristic processing information as YTBi, i-1, 2,3.. n; marking morphology comparison data in the feature processing information as TTBi, i ═ 1,2,3.. n;
s82: analyzing the color comparison data, and if the color features in the color comparison data belong to the first color detection features in the standard form database, generating first color detection data; if the color features in the color contrast data belong to second color detection features in the standard color database, generating second color detection data; if the color features in the color contrast data belong to third color detection features in the standard color database, generating third color detection data; combining the first color detection data, the second color detection data and the first color detection data to obtain color analysis data;
s83: analyzing the form comparison data, and if the form value in the form comparison data belongs to the first form detection characteristic in the standard form database, generating first form detection data; if the form value in the form comparison data belongs to a second form detection feature in the standard form database, generating second form detection data; combining the first morphological detection data and the second morphological detection data to obtain morphological analysis data;
s84: and combining the color analysis data and the morphological analysis data to obtain characteristic analysis information.
The working principle of the invention is as follows: acquiring images of peanuts on a first conveying seat 22, a second conveying seat 23 and a third conveying seat 24 by using a
obtaining the color of peanuts in the image by using an image recognition algorithm to obtain color characteristics, and combining a plurality of color characteristics to obtain the color information of the peanuts; the image recognition algorithm can be an image processing technical scheme disclosed in a target tracking method based on the correlation of space-time domain edges and color features, wherein the publication number is CN 103065331B; the color of the peanuts can be light yellow, gray and brown;
acquiring length data and width data of a plurality of peanuts, and combining the length data and the width data of the plurality of peanuts to obtain form information of the peanuts;
combining the color information and the shape information to obtain the characteristic information of the peanuts;
processing the characteristic information by using a data processing module to obtain characteristic processing information, wherein the specific steps comprise:
acquiring characteristic information, and setting color information in the characteristic information as color data; setting the form information in the feature information as form data;
comparing the color data with standard color data preset in a database through a processor to obtain color comparison data; wherein the preset standard color data comprises light yellow, gray and brown data;
obtaining the form value of the peanuts by using a form calculation formula, wherein the form calculation formula comprises the following steps:
wherein is represented by QHXiExpressing as the shape value of the peanut, HCi as the length value in the length data, HKi as the width value in the width data, alpha as the preset peanut shape factor, and the value of the peanut shape factor is 0.36491;
comparing the form value with standard form data preset in a database through a processor to obtain form comparison data; the preset standard form data is set according to the standard length and width of the peanuts, and can be (0, 1);
combining the color comparison data and the form comparison data to obtain characteristic processing information;
analyzing the feature processing information by using a data analysis module to obtain feature analysis information, wherein the specific steps comprise:
acquiring feature processing information, and marking color contrast data in the feature processing information; marking the form comparison data in the feature processing information;
analyzing the color comparison data, and if the color features in the color comparison data belong to the first color detection features in the standard form database, generating first color detection data; if the color features in the color contrast data belong to second color detection features in the standard color database, generating second color detection data; if the color features in the color contrast data belong to third color detection features in the standard color database, generating third color detection data; combining the first color detection data, the second color detection data and the first color detection data to obtain color analysis data; the first color detection feature may be light yellow data, the second color detection feature may be gray data, the second color detection feature may be brown data, the first color detection data indicates that the detected peanuts are normal, the second color detection data indicates that the detected peanut parts are abnormal, and the third color detection data indicates that the detected peanut parts are damaged;
analyzing the form comparison data, and if the form value in the form comparison data belongs to the first form detection characteristic in the standard form database, generating first form detection data; if the form value in the form comparison data belongs to a second form detection feature in the standard form database, generating second form detection data; combining the first morphological detection data and the second morphological detection data to obtain morphological analysis data; for example, the form value is 0.8, which belongs to a first form detection feature in the standard form database, and the value of the first form detection feature can be (0.5, 1), so that first form detection data is generated to indicate that the detected peanuts are normal;
and combining the color analysis data and the morphological analysis data to obtain characteristic analysis information.
The preferred embodiments of the invention disclosed above are intended to be illustrative only. The preferred embodiments are not intended to be exhaustive or to limit the invention to the precise embodiments disclosed. Obviously, many modifications and variations are possible in light of the above teaching. The embodiments were chosen and described in order to best explain the principles of the invention and the practical application, to thereby enable others skilled in the art to best utilize the invention. The invention is limited only by the claims and their full scope and equivalents.