A fully automatic radish hollow detection and sorting system and its detection and sorting method

Abstract

The present invention discloses a fully automatic radish hollow detection and sorting system and its detection and sorting method. The system includes a conveying mechanism for sequentially conveying single radishes to be tested, a detection mechanism for detecting the density of radishes, and a sorting mechanism for sorting radishes according to the detection results. The detection mechanism includes a water bucket assembly arranged at the end of the conveying mechanism for receiving and measuring the volume of radishes and a weighing device for measuring the mass of radishes. By setting the water bucket assembly and the weighing device, the volume and weight of radishes are tested, and further the density of radishes is obtained and compared with the standard density value to determine whether the radishes are hollow, and the sorting is carried out through the sorting mechanism, so as to realize the detection and sorting of hollow radishes, with high accuracy and high efficiency, and is suitable for large-scale processing and production.

Description

Technical Field

[0001] The present invention relates to the field of automatic radish processing, and particularly relates to a full-automatic radish hollow detection and sorting system and a detection and sorting method thereof. Background Art

[0002] Radish is an annual or biennial herbaceous plant. Its root is fleshy, oblong, spherical or conical, and the root skin is green, white, pink or purple. The stem is erect, thick, cylindrical, hollow, and branched from the base. The basal leaves and the lower stem leaves have long petioles, usually pinnately divided with large heads, covered with thick hairs, and there are 1-3 pairs of lateral lobes with serrated or incised edges; the middle and upper stem leaves are oblong to lanceolate, gradually becoming smaller upwards, not divided or slightly divided, not clasping the stem; during the growth process of radish, the root system is relatively developed, the underground part is deeper, and the swelling speed of the underground fruit roots is relatively fast, higher than the growth speed of the stems and leaves, and its taste is relatively loose. If the ripening speed of the underground root system fruits is higher than the growth speed of the above-ground stems and leaves, it is very easy to cause the situation of hollow radishes. Or if sown prematurely, in a high-temperature and drought-prone weather with a small temperature difference at night and a high temperature, then this environment may cause the growth of radishes to be delayed, or even the nutrient accumulation to stop and be consumed excessively, resulting in the inability of the root system to expand normally and the nutrient imbalance, which will also cause the situation of hollow radishes; in the prior art, generally, whether a radish is hollow is judged by observation or by knocking and listening to the sound, but this method of detecting hollowness is greatly affected by human factors, with low detection accuracy and is not conducive to use in large-scale processing. Summary of the Invention

[0003] In view of this, the purpose of the present invention is to overcome the defects in the prior art, and provide a full-automatic radish hollow detection and sorting system and a detection and sorting method thereof, which can detect and sort hollow radishes, with high accuracy and high efficiency, and are suitable for large-scale processing and production.

[0004] A full-automatic radish hollow detection and sorting system of the present invention includes a conveying mechanism for sequentially conveying single radishes to be tested, a detection mechanism for detecting the density of radishes, and a sorting mechanism for sorting radishes according to the detection results. The detection mechanism includes a water bucket assembly arranged at the end of the conveying mechanism for receiving and measuring the volume of radishes and a weighing device for measuring the mass of radishes.

[0005] Further, the sorting mechanism includes a plurality of vertical push rod motors and a sorting net distributed on the tops of the plurality of vertical push rod motors and located above the water bucket assembly. The plurality of vertical push rod motors are used to realize the overall lifting or tilting of the sorting net through the telescoping of the whole or in groups.

[0006] Further, the plurality of vertical push rod motors are distributed in a rectangular shape and include a left front vertical push rod motor, a left rear vertical push rod motor, a right front vertical push rod motor and a right rear vertical push rod motor distributed around the water bucket assembly.

[0007] Further, the sorting mechanism further includes a bottom plate placed on the weighing device, a left sliding plate and a right sliding plate arranged on the bottom plate in a single-degree-of-freedom sliding manner along the left-right direction. The left sliding plate and the right sliding plate are respectively located on the left and right sides of the bucket assembly. The left front vertical push rod motor and the left rear vertical push rod motor are fixed to the left sliding plate, and the right front vertical push rod motor and the right rear vertical push rod motor are fixed to the right sliding plate. The sorting mechanism further includes a left horizontal push rod motor for driving the left sliding plate to slide and a right horizontal push rod motor for driving the right sliding plate to slide.

[0008] Further, a first conveyor belt is arranged on the right side of the bucket assembly, and the first conveyor belt is used to receive and transport the radishes falling out from the right side of the sorting net. A second conveyor belt is arranged at the rear side of the bucket assembly, and the second conveyor belt is used to receive and transport the radishes falling out from the rear side of the sorting net. Guide inclined plates for guiding the corresponding fallen radishes are respectively arranged on the first conveyor belt and the second conveyor belt.

[0009] Further, the bucket assembly includes a bucket body with a rectangular cross-section in the horizontal direction and a pressure sensor arranged at the bottom of the bucket body to detect the liquid pressure. The detection mechanism further includes a processing module for calculating the density. The output end of the pressure sensor is electrically connected to the input end of the processing module, and the output end of the processing module is connected to the input end of the sorting mechanism.

[0010] Further, a drying device is further included. The drying device is located at the front side of the bucket assembly and is used to dry the surface of the radishes after water discharge. The drying device includes a support column, a rotating motor fixed to the top of the support column, and a swing arm tube vertically fixed to the rotating shaft of the rotating motor. A plurality of blowing holes are sequentially arranged at intervals along the length direction of the bottom of the swing arm tube. The inner cavity of the swing arm tube is communicated with the air outlet of a high-pressure nitrogen tank, and a solenoid valve is arranged at the air outlet of the high-pressure nitrogen tank.

[0011] Further, the conveying mechanism includes a bracket and a conveyor belt installed on the bracket. Partition plates are sequentially and fixedly arranged at intervals along the length direction of the conveyor belt surface. The partition plates are fixed along the width direction of the conveyor belt and separate adjacent radishes to be measured.

[0012] The present invention also discloses a detection and sorting method using the above-mentioned full-automatic radish hollow detection and sorting system, including the following steps:

[0013] Step 1, conveying a single radish to be measured to the sorting net through the conveying mechanism, and the weighing device weighs the radish;

[0014] Step 2, controlling the sorting net to descend so that the radish is immersed in the bucket body. By measuring the change in the bottom pressure, calculating the rising height of the liquid, and combining the bottom area of the bucket body, the volume of the radish is calculated;

[0015] Step 3: Calculate the density of the radish based on the weight of the radish in Step 1 and the volume of the radish in Step 2, compare it with the standard density, and make a judgment on whether it is hollow.

[0016] Step 4: Control the sorting net to rise. According to the hollow judgment result, further control the corresponding vertical push rod motor to rise, so that the sorting net tilts to the right or backward to pour out the radishes, realizing sorting.

[0017] Furthermore, in Step 4, after the sorting net rises, control the swing arm pipe of the air drying device to rotate above the radish and spray high-pressure gas downward, control the left vertical push rod motor and the right vertical push rod motor to reciprocate up and down cyclically in turn, so that the radishes roll left and right reciprocally. After reaching the set cycle, control the vertical push rod motor to perform the sorting operation.

[0018] The beneficial effects of the present invention are as follows: A fully automatic radish hollow detection and sorting system and its detection and sorting method disclosed by the present invention test the volume and weight of the radishes by setting a water bucket assembly and a weighing device, further obtain the density of the radishes and compare it with the standard density value, judge whether the radishes are hollow, and perform sorting through a sorting mechanism, realizing the detection and sorting of hollow radishes, with high accuracy and high efficiency, and being suitable for large-scale processing and production. Brief Description of the Drawings

[0019] The following further describes the present invention in conjunction with the drawings and embodiments:

[0020] Figure 1 is a structural schematic diagram of the present invention;

[0021] Figure 2 is another state structural schematic diagram of the present invention;

[0022] Figure 3 is a structural schematic diagram of the sorting mechanism in the present invention. Detailed Embodiment

[0023] Figure 1 is a structural schematic diagram of the present invention; Figure 2 is another state structural schematic diagram of the present invention; Figure 3Schematic structural diagram of the sorting mechanism in the present invention (without the sorting net hung); as shown in the figure, a fully automatic radish hollow detection and sorting system in this embodiment includes a conveying mechanism 1 for sequentially conveying single radishes to be detected, a detection mechanism for detecting the density of radishes, and a sorting mechanism for sorting radishes according to the detection results. The detection mechanism includes a water bucket assembly arranged at the end of the conveying mechanism for receiving and measuring the volume of radishes and a weighing device for measuring the mass of radishes; the detection mechanism measures the volume of radishes falling into the water bucket assembly and the weight of the falling radishes, and can calculate the density by using existing calculation formulas, and then compare it with the density of solid radishes to convey the detection result to the sorting mechanism for sorting. The sorting mechanism can be an existing automatic mechanical claw for grasping and sorting. Of course, the detection mechanism also includes a processing module for calculating the density. The processing module is an existing 51 single-chip microcomputer. The 51 single-chip microcomputer can be the TMS320F28 series single-chip microcomputer of Texas Instruments or the 51 single-chip microcomputer of model AT89S52 of Atmel Corporation; by setting the water bucket assembly and the weighing device, the volume and weight of radishes are tested, and further the density of radishes is obtained and compared with the standard density value to judge whether the radish is hollow, and the sorting is carried out through the sorting mechanism, so as to realize the detection and sorting of hollow radishes, with high accuracy and high efficiency, and is suitable for large-scale processing and production.

[0024] In this embodiment, the sorting mechanism includes a control module, a horizontal push rod motor, a vertical push rod motor and a sorting network 3, the vertical push rod motor includes a left front vertical push rod motor 4, a left rear vertical push rod motor 5, a right front vertical push rod motor 6 and a right rear vertical push rod motor 7 distributed around the bucket assembly, and also includes a bottom plate 8 placed on the weighing device 2, and a left slide plate 9 and a right slide plate 10 are provided on the bottom plate 8 in a single degree of freedom sliding manner along the left and right directions, and the left slide plate 9 and the right slide plate 10 are respectively located on the left and right sides of the bucket assembly, the left front vertical push rod motor 4 and the left rear vertical push rod motor 5 are fixed to the left slide plate 9 in a front-to-back parallel manner, and the right front vertical push rod motor 6 and the right rear vertical push rod motor 7 are fixed to the left slide plate 9 in a front-to-back parallel manner. It is fixed to the right slide 10 in a front-to-back parallel manner, the horizontal push rod motor includes a left horizontal push rod motor 11 for driving the left slide 9 to slide and a right horizontal push rod motor 12 for driving the right slide 10 to slide, the sorting network 3 is a rectangular network and the four corners of the rectangular network are respectively fixed to the tops of the push rods of four vertical push rod motors, the input end of the control module is electrically connected to the output end of the processing module, the output end of the control module is connected to the control input end of the horizontal push rod motor and the control input end of the vertical push rod motor, the control module is used to control the horizontal push rod motor and the vertical push rod motor to realize the acceptance, immersion, and discharge of the radish to be tested and to realize sorting according to the input value of the processing module; the sorting network 3 Below the end of the conveying mechanism 1, when receiving the radish, the control module controls the vertical push rod to rise, and the vertical push rod motor on the left and the push rod motor on the right are close to each other. When the radish falls on the sorting net 3, the weighing device 2 measures the weight difference and then measures the weight of the radish. Then the control module controls the push rods of the four vertical push rod motors to descend so that the radish is immersed in water. The bucket assembly obtains the volume of the radish by detecting the liquid level difference. The processing module calculates the density according to the volume and mass and determines whether it is a hollow radish. The control module controls the push rods of the vertical push rod motors to rise and separates the vertical push rod motor on the left and the vertical push rod motor on the right by controlling the horizontal push rod motor, so that the sorting net 3 is flattened. Then the control module controls the push rods of the vertical push rod motors according to the hollow judgment. The vertical push rod motor is used for sorting. When it is judged that the radish is hollow, the push rods of the left front vertical push rod motor 4 and the right front vertical push rod motor 6 are controlled to rise further, so that the sorting network 3 tilts the radish backwards. When it is judged that the radish is not hollow, the push rods of the left front vertical push rod motor 4 and the left rear vertical push rod motor 5 are controlled to rise further, so that the sorting network 3 tilts the radish to the right; the control module can be an existing 51 single-chip microcomputer, such as Atmel's 51 single-chip microcomputer with model AT89S52, a guide rail is arranged on the bottom plate 8 along the left and right directions, and a guide groove matching the guide rail is arranged at the bottom of the left and right slide plates 10, the cross-section of the guide rail can be dovetail-shaped, and the guide groove is a dovetail groove; the left and right directions are Figure 1 The left and right directions in the Figure 1 The middle finger points inside the paper, and the opposite finger points backwards.

[0025] In this embodiment, a first conveyor belt 13 is arranged on the right side of the water bucket assembly. The first conveyor belt 13 is used to receive and transport the radishes falling out from the right side of the sorting net 3. A second conveyor belt 14 is arranged at the rear side of the water bucket assembly. The second conveyor belt 14 is used to receive and transport the radishes falling out from the rear side of the sorting net 3. Guide inclined plates for guiding the corresponding falling radishes are respectively arranged on the first conveyor belt 13 and the second conveyor belt 14. Limit plates can be arranged on both sides of the first conveyor belt 13 and the second conveyor belt. Of course, both the first conveyor belt 13 and the second conveyor belt are electric conveyor belts, which are prior art and will not be elaborated here.

[0026] In this embodiment, the water bucket assembly includes a water bucket body 15 with a rectangular cross-section in the horizontal direction and a pressure sensor arranged at the inner bottom of the water bucket body 15 for the liquid pressure. The output end of the pressure sensor is electrically connected to the input end of the processing module. When the radish is immersed in water, the liquid level rises and the bottom pressure increases. According to the formula p = ρgh (where p is the bottom liquid pressure, ρ is the liquid density, g is the acceleration due to gravity, and h is the liquid level height), the change in the liquid level is calculated. Combining with the known bottom area of the water bucket body 15, the immersed volume of the radish can be obtained. The volume of the sorting net 3 can be ignored.

[0027] In this embodiment, a drying device is further included. The drying device is located in front of the water bucket assembly and is used to dry the surface of the radish after it comes out of the water. The drying device includes a support column 16, a rotating motor 17 fixed at the top of the support column 16, and a swing arm pipe 18 vertically fixed on the rotating shaft of the rotating motor 17. A plurality of blowing holes are sequentially arranged at intervals along the length direction of the bottom of the swing arm pipe 18. The inner cavity of the swing arm pipe 18 is communicated with the air outlet of a high-pressure nitrogen tank. An electromagnetic valve is arranged at the air outlet of the high-pressure nitrogen tank. The output end of the control module is electrically connected to the control input end of the rotating motor 17 and the control input end of the electromagnetic valve. When the conveying mechanism 1 drops the radish, the rotating motor 17 rotates, causing the swing arm pipe 18 to swing, avoiding blocking the radish from falling onto the sorting net 3. The drying device is beneficial to blowing the liquid attached to the surface of the radish and the surface of the sorting net 3 back into the water bucket body 15.

[0028] In this embodiment, when the drying device is working, the control module controls the vertical push rod motor to lift periodically, so that the radish rolls left and right reciprocally on the sorting net 3. When drying, first control the push rod of the left vertical push rod motor to rise and the push rod of the right vertical push rod motor to fall, and then control the push rod of the left vertical push rod motor to fall and the push rod of the right vertical push rod motor to rise, causing the sorting net 3 to swing left and right reciprocally, which is beneficial for the radish in the middle to roll left and right, slow down the drying speed, and greatly improve the working efficiency.

[0029] In this embodiment, the conveying mechanism 1 includes a bracket and a conveyor belt mounted on the bracket. Partition plates are fixedly arranged at intervals along the length direction of the surface of the conveyor belt. The partition plate 19 is fixed along the width direction of the conveyor belt to separate adjacent radishes to be measured. The conveyor belt is equipped with a stepping motor, which rotates by a set angle each time to enable the conveying mechanism 1 to convey a single radish.

[0030] The present invention also discloses a detection and sorting method using the above-mentioned fully automatic radish hollowness detection and sorting system, including the following steps:

[0031] Step 1: Convey a single radish to be measured to the sorting net 3 through the conveying mechanism 1, and the weighing device 2 weighs the radish.

[0032] Step 2: Control the sorting net 3 to descend so that the radish is immersed in the water bucket body 15. Calculate the rising height of the liquid by measuring the change in the bottom pressure, and combine with the bottom area of the water bucket body 15 to calculate the volume of the radish.

[0033] Step 3: Calculate the density of the radish based on the radish weight in Step 1 and the radish volume in Step 2, and compare it with the standard density to make a judgment on whether it is hollow.

[0034] Step 4: Control the sorting net 3 to rise. According to the hollow judgment result, in this embodiment, control the corresponding vertical push rod motor to rise, so that the sorting net 3 tilts to the right or backward and pours out the radish to achieve sorting.

[0035] In this embodiment, in Step 4, after the sorting net 3 rises, control the swing tube 18 of the air drying device to rotate to the position directly above the radish and spray high-pressure gas downward. Control the left vertical push rod motor and the right vertical push rod motor to reciprocate up and down periodically in turn, so that the radish rolls left and right. After reaching the set cycle, control the vertical push rod motor to perform the sorting operation.

[0036] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and not to limit them. Although the present invention has been described in detail with reference to the preferred embodiments, those of ordinary skill in the art should understand that the technical solutions of the present invention can be modified or equivalently replaced without departing from the purpose and scope of the technical solutions of the present invention, and they should all be covered by the scope of the claims of the present invention.

Claims

1. A fully automatic radish hollow detection and sorting system, characterized in that: It includes a conveying mechanism for sequentially conveying single radishes to be tested, a detection mechanism for detecting the density of radishes, and a sorting mechanism for sorting radishes according to the detection results. The detection mechanism includes a water bucket assembly arranged at the end of the conveying mechanism for receiving and measuring the volume of radishes and a weighing device for measuring the mass of radishes; the sorting mechanism includes a plurality of vertical push rod motors and a sorting net distributed on the tops of the plurality of vertical push rod motors and located above the water bucket assembly. The plurality of vertical push rod motors are used to achieve the overall lifting or tilting of the sorting net through the telescopic movement of the whole or in groups; the plurality of vertical push rod motors are distributed in a rectangular shape and include a left front vertical push rod motor, a left rear vertical push rod motor, a right front vertical push rod motor, and a right rear vertical push rod motor distributed around the water bucket assembly; the water bucket assembly includes a water bucket body with a rectangular cross-section in the horizontal direction and a pressure sensor for detecting the liquid pressure at the bottom inside the water bucket body. The detection mechanism also includes a processing module for calculating the density. The output end of the pressure sensor is electrically connected to the input end of the processing module, and the output end of the processing module is connected to the input end of the sorting mechanism; the conveying mechanism includes a bracket and a conveyor belt installed on the bracket. Partition plates are sequentially and fixedly arranged at intervals along the length direction of the surface of the conveyor belt. The partition plates are fixed along the width direction of the conveyor belt and separate adjacent radishes to be tested.

2. The fully automatic radish hollow detection and sorting system according to claim 1, wherein: The sorting mechanism also includes a bottom plate placed on the weighing device, a left sliding plate and a right sliding plate arranged on the bottom plate in a single-degree-of-freedom sliding manner along the left-right direction. The left sliding plate and the right sliding plate are respectively located on the left and right sides of the water bucket assembly. The left front vertical push rod motor and the left rear vertical push rod motor are fixed to the left sliding plate, and the right front vertical push rod motor and the right rear vertical push rod motor are fixed to the right sliding plate; the sorting mechanism also includes a left horizontal push rod motor for driving the left sliding plate to slide and a right horizontal push rod motor for driving the right sliding plate to slide.

3. The fully automatic radish hollow detection and sorting system according to claim 2, characterized in that: A first conveyor belt is arranged on the right side of the water bucket assembly. The first conveyor belt is used to receive and transport the radishes that fall out from the right side of the sorting net. A second conveyor belt is arranged at the rear side of the water bucket assembly. The second conveyor belt is used to receive and transport the radishes that fall out from the rear side of the sorting net; guiding inclined plates for guiding the corresponding fallen radishes are arranged on both the first conveyor belt and the second conveyor belt.

4. The fully automatic radish hollow detection and sorting system according to claim 2, wherein: It also includes a drying device. The drying device is located in front of the water bucket assembly and is used to dry the surface of the radishes after they come out of the water; the drying device includes a support column, a rotating motor fixed to the top of the support column, and a swing arm tube vertically fixed to the rotating shaft of the rotating motor. A plurality of blowing holes are sequentially and spaced apart along the length direction of the bottom of the swing arm tube. The inner cavity of the swing arm tube is communicated with the air outlet of a high-pressure nitrogen tank, and a solenoid valve is arranged at the air outlet of the high-pressure nitrogen tank.

5. A detection and sorting method using the fully automatic radish hollowness detection and sorting system according to any one of claims 1-4, characterized in that: It includes the following steps: Step 1, convey a single radish to be tested to the sorting net through the conveying mechanism, and the weighing device weighs the radish. Step 2, control the sorting net to descend so that the radish is immersed in the water bucket body. Calculate the rising height of the liquid by measuring the change in the bottom pressure, and combine with the bottom area of the water bucket body to calculate the volume of the radish. Step 3: Calculate the radish density based on the radish weight in Step 1 and the radish volume in Step 2, compare it with the standard density, and make a judgment on whether it is hollow or not. Step 4: Control the sorting net to rise. According to the hollow judgment result, further rise by controlling the corresponding vertical push rod motor, so that the sorting net tilts to the right or backward to pour out the radishes, realizing sorting.

6. The fully automatic radish hollow detection and sorting method according to claim 5, characterized in that: In Step 4, after the sorting net rises, control the swing arm pipe of the air drying device to rotate above the radish and spray high-pressure gas downward, control the left vertical push rod motor and the right vertical push rod motor to reciprocate and lift periodically in sequence, so that the radishes roll left and right reciprocally. After reaching the set cycle, control the vertical push rod motor to perform the sorting operation.

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