An intelligent cocoon selection and picking system and equipment

Abstract

The present invention discloses an intelligent cocoon selection and picking system and equipment, which relates to the field of cocoon screening. The cocoon selection and picking system includes an image acquisition module, an image preprocessing module, an image segmentation module, an image positioning module, and an intelligent sorting module. The cocoon selection and picking equipment includes a conveying device, a first image acquisition device, a grid frame, and a sorting device. The conveying device is used to convey the grid frame filled with cocoons. The first image acquisition device and the sorting device are both installed above the conveying device. The first image acquisition device is used to acquire the first image, and the sorting device is used to separately pack the cocoons on the grid frame into superior cocoons and inferior cocoons. The problems of low modernization level, large labor demand, low efficiency, and low sorting accuracy in the existing cocoon sorting methods have been solved.

Description

Technical Field

[0001] The present invention relates to the field of cocoon screening, and specifically, to an intelligent cocoon selection system and equipment. Background Art

[0002] Currently, most sericulture bases still have the characteristics of low automation and informatization levels, high manual labor intensity, and low production efficiency. Especially in the aspect of cocoon selection, although through the efforts of scientific research personnel, cocoon picking equipment has been developed to assist manual labor in picking cocoons with relatively high efficiency, these devices cannot complete the identification and sorting of cocoon defects (such as yellow-spotted cocoons, greasy cocoons, double cocoon layers, etc.). At present, the sorting of cocoons is still mainly manual. Manual work has low efficiency and strong subjectivity, making it difficult to effectively sort superior cocoons from inferior cocoons. Moreover, when superior cocoons and inferior cocoons are mixed together, the superior cocoons are easily contaminated by the inferior cocoons, reducing the overall quality of the cocoons, resulting in the quality and quantity of high-quality cocoons being affected, directly affecting the quality of silk reeling, and seriously restricting the development of the sericulture industry.

[0003] Cocoon selection is one of the important preparatory works in the process of silk reeling from cocoons. Raw cocoons must be strictly selected to remove the cocoons that cannot be reeled and the inferior cocoons that can still be reeled in each batch of cocoons in order to ensure production efficiency and the production of high-quality silk. Currently, there is mechanical cocoon picking equipment to assist in the picking work, and the selection of cocoons is mainly completed manually. Manual work has strong subjectivity and low efficiency. However, with the development of the social economy, the "labor-intensive" sericulture industry is difficult to develop sustainably and healthily. Sericulture bases generally report a low level of modernization in silkworm raising and cocoon picking and a large demand for labor. Due to the high cost of rural labor at present, some cooperatives, large-scale cocoon growers, and enterprises have seen increased production but decreased income, and the larger the scale, the lower the efficiency, and the development of sericulture is worrying. There is an urgent need for modern sericulture equipment. Summary of the Invention

[0004] The present invention provides an intelligent cocoon selection system and equipment to solve the problems described in the prior art.

[0005] To achieve the above object, the present invention provides the following solutions:

[0006] An intelligent cocoon selection system, comprising:

[0007] An image acquisition module, which acquires a first image of the cocoon;

[0008] An image preprocessing module, which preprocesses the first image, and the preprocessing includes image enhancement and denoising;

[0009] An image segmentation module, which segments the first image according to individual cocoons to obtain a plurality of second images;

[0010] An image positioning module, which records first position information of the second image relative to the first image;

[0011] The intelligent sorting module divides the second image into upper-cocoon images and lower-cocoon images based on a deep transfer network, and separates the silkworm cocoons according to the first position information of the upper-cocoon images and the lower-cocoon images.

[0012] In the prior art, manual sorting of silkworm cocoons is used, which has low efficiency and cannot meet the healthy development of the "labor-intensive" sericulture industry. The present invention realizes the automatic sorting of silkworm cocoons through an image acquisition module, an image preprocessing module, an image segmentation module, an image positioning module, and an intelligent sorting module, improving the sorting efficiency, thereby increasing the benefits of the sericulture industry; the image acquisition module acquires and stores silkworm cocoon images, the image preprocessing module enhances and denoises the images, etc., improving the quality of the silkworm cocoon images, reducing the difficulty of sorting, and improving the accuracy of sorting. The image segmentation module is used to separately segment the images of individual silkworm cocoons to prevent interference between silkworm cocoons, making it difficult to locate and increasing the sorting difficulty. The image positioning module is used to position the segmented silkworm cocoons to facilitate determining the quality of each silkworm cocoon after sorting and also facilitating the separation of upper cocoons and lower cocoons. The intelligent sorting module is used for the separation of upper cocoons and lower cocoons. It distinguishes upper cocoons and lower cocoons through a deep transfer network and separates the upper cocoons and lower cocoons according to the position information of the silkworm cocoons determined by the image positioning module, realizing full-process mechanized sorting, replacing manual operation, increasing the sorting efficiency, and thus increasing the factory production capacity and benefits. Among them, as a professional term in this field, an upper cocoon refers to a cocoon with a normal cocoon shape, color, cocoon layer thickness, and shrinkage pattern and no defects, and a lower cocoon refers to a cocoon with serious defects that cannot be reeled or is difficult to reel into high-quality raw silk.

[0013] Further, before acquiring the first image, the silkworm cocoons are placed in a grid cluster. The first image is an overall image of the grid cluster, and the second image is an image of a single grid on the grid cluster.

[0014] The grid cluster can confine the silkworm cocoons within a certain area, and at the same time can limit the placement direction of the silkworm cocoons according to the length and width of the grids, reducing the differences between the silkworm cocoons on the grid cluster, facilitating sorting. At the same time, the grid cluster can provide a basis for the segmentation line for the image segmentation module during segmentation, that is, segment along the grid edge to prevent incorrect image segmentation from affecting the accuracy of sorting.

[0015] An intelligent silkworm cocoon selection and picking equipment includes a conveying device, a first image acquisition device, a grid cluster, and a sorting device. The conveying device is used to convey the grid cluster containing silkworm cocoons. The first image acquisition device and the sorting device are both installed above the conveying device. The first image acquisition device is used to acquire the first image, and the sorting device is used to separately pack the silkworm cocoons on the grid cluster into upper cocoons and lower cocoons.

[0016] For this equipment, simply place the grid frame with cocoons on the conveyor device. The conveyor device drives the grid frame to move. When passing under the first image acquisition device, the image acquisition module on the first image acquisition device acquires the images of the grid frame and the cocoons. Then, through the image preprocessing module, image segmentation module, and image positioning module, the images are processed to obtain the position information of the corresponding upper-grade cocoons and lower-grade cocoons images and transmit them to the sorting device. When the grid frame moves under the sorting device, the sorting device takes out the upper-grade cocoons and lower-grade cocoons from the grid frame respectively for separate packaging according to the position information of the upper-grade cocoons and lower-grade cocoons images. This equipment has a simple structure and a high degree of automation in the sorting process, without the need for manual operation.

[0017] Furthermore, the grid frame includes a grid plate and a bottom plate, and the grid plate and the bottom plate are detachably connected. It is convenient for cleaning, preventing stains from remaining inside the grid frame, contaminating the subsequent cocoons, and reducing the quality of the cocoons.

[0018] Furthermore, a plurality of through holes are formed in the bottom plate, and each of the plurality of through holes is provided with an openable and closable movable door. It is convenient for the cocoons to leave the grid frame during cocoon sorting.

[0019] Furthermore, a plurality of switch holes corresponding to the through holes one by one are also formed in the bottom plate. A connecting rod is fixedly connected to the movable door. At least two elastic members are installed at the end of the connecting rod. The elastic members are arranged at intervals. A limiting structure is provided at the top of the elastic member. The top of the limiting structure is a slope, and the bottom is a flat surface. The method for closing the movable door includes:

[0020] In the initial state, the elastic member is in the initial position. At this time, the distance between the tops of the limiting structures of any two elastic members is less than the diameter of the switch hole; close the movable door. At this time, the elastic member moves towards the switch hole, the slope contacts the side wall of the switch hole and causes the elastic member to deform and bend inwards. When the limiting structure passes through the switch hole, that is, the flat surface leaves the switch hole, the elastic member returns to its original state. At this time, the flat surface is below the bottom plate, and the bottom plate contacts the flat surface, preventing the limiting structure from passing through the switch hole.

[0021] This structure makes it convenient to close the movable door, enabling the grid frame after sorting to be quickly put into the subsequent sorting operation. And this structure is convenient for opening the movable door. Just compress the elastic member towards the middle to deflect it, and then push the elastic member away from the switch hole. The operation and the device structure are simple, and at the same time, the process of sorting cocoons will not cause harm to the cocoons.

[0022] Further, the sorting device includes a plurality of telescopic devices, which correspond to the switch holes one by one. The top of the telescopic device is fixedly connected with a thimble and a plurality of retaining pieces. The thimble is located at the center of the plurality of retaining pieces, and the retaining pieces correspond to the elastic members one by one. The distance between the outer sides of any two retaining pieces is smaller than the diameter of the switch hole. When the movable door is closed, the lower end of any retaining piece is opposite to the inclined surface on the corresponding elastic member.

[0023] The sorting device provides an automated mechanical device for opening the square cocoon cluster, replacing manual sorting and having higher efficiency. This device deforms the elastic member inward through the retaining piece, and then pushes it out of the switch hole through the thimble to complete the operation of opening the movable door. The structure is simple and the operation is convenient and fast.

[0024] Further, the method for the sorting device to open the movable door includes:

[0025] Step 1: Based on the intelligent sorting module and the image positioning module, determine the telescopic device corresponding to the upper-cocoon image or the lower-cocoon image, so that the sorting device can remove the upper cocoons and the lower cocoons from the square cocoon cluster in two separate times.

[0026] Step 2: Extend the telescopic device. At this time, the thimble is inserted between the plurality of elastic members, and the retaining piece gradually contacts the inclined surface.

[0027] Step 3: Continue to extend the telescopic device. The elastic member deforms inward under the action of the retaining piece until the retaining piece is parallel to the plane.

[0028] Step 4: Continue to extend the telescopic device. The thimble contacts the connecting rod and pushes the connecting rod to move until the limiting structure disengages from the switch hole. At this time, the movable door opens. The entire opening process only requires extending the telescopic device, and the operation is simple.

[0029] Further, it also includes a flipping device and a second image acquisition device located between the first image acquisition device and the sorting device. The flipping device is used to flip the square cocoon cluster after the first image is acquired. The second image acquisition device acquires the image of the flipped square cocoon cluster and obtains a third image. The specific method for distinguishing whether the cocoon is an upper cocoon or a lower cocoon is as follows:

[0030] Through the image segmentation module, the third image is segmented according to individual cocoons to obtain a plurality of fourth images.

[0031] Through the image positioning module, the fourth images are corresponded to the second image before flipping one by one to obtain the second position information.

[0032] Through the intelligent sorting module, the fourth image is divided into an upper cocoon image on the back and a lower cocoon image on the back based on the deep transfer network, and the cocoons are separated by combining the second position information of the upper cocoon image, the upper cocoon image on the back, the lower cocoon image, and the lower cocoon image on the back;

[0033] The separation principle is that when the second image and the fourth image recorded in the second position information are the upper cocoon image and the upper cocoon image on the back respectively, the cocoon corresponding to the second position information is the upper cocoon, and the rest are all lower cocoons.

[0034] Since the cocoon is ellipsoidal, the image acquisition module intelligently acquires images of half of the surface area of the cocoon, and it is impossible to determine whether the other half of the cocoon belongs to the upper cocoon or the lower cocoon, resulting in inaccurate sorting. The turning device turns the grid frame and re-acquires the cocoon image. By combining the previously acquired images, the quality of the cocoon can be determined, increasing the accuracy of sorting.

[0035] Further, the turning device includes a telescopic component, two extension rods installed at the telescopic end of the telescopic component, and a clamping claw component rotatably connected to the ends of the extension rods. The clamping claw component includes a rotating rod and two clamping claws fixedly connected to the rotating rod and having opposite directions. Fixed rods for the clamping claws to grab are provided at both ends of the bottom plate. The method for the turning device to turn the grid frame includes:

[0036] The turning device holds an excessive bottom plate. The clamping claws opposite to the clamping claws holding the excessive bottom plate are in an open state; the excessive bottom plate serves as a lid to cover the grid frame to prevent the cocoons from falling out during turning.

[0037] When the grid frame moves to a preset position below the turning device, stop the conveying device, extend the telescopic component until the excessive bottom plate matches the upper end of the grid frame, and control the clamping claws to clamp the bottom plate of the grid frame; cover the excessive bottom plate and clamp the original bottom plate of the grid frame to prevent the bottom plate from loosening or falling during turning, resulting in the cocoons falling out.

[0038] Shrink the telescopic component to a preset position, control the rotating rod to rotate 180 degrees, then extend the telescopic component, place the grid frame on the conveying device, open the clamping claws holding the excessive bottom plate, shrink the telescopic component to the initial position, and separate the bottom plate of the grid frame from the grid frame;

[0039] Start the conveying device. At this time, the original bottom plate serves as a new excessive bottom plate waiting for the next turning operation. The excessive bottom plate has the same shape as the bottom plate, enabling the bottom plate to take turns as the excessive bottom plate, avoiding the need to separately manufacture and install the excessive bottom plate, saving costs and turning time.

[0040] One or more technical solutions provided by the present invention have at least the following technical effects or advantages:

[0041] (1) The present invention uses an image acquisition module, an image preprocessing module, an image segmentation module, an image positioning module, and an intelligent sorting module, and combines with a mechanical device to complete the automation of cocoon sorting, replacing manual operation, saving labor, and having high accuracy and higher efficiency in mechanical automation sorting, increasing the production capacity of the factory and improving the factory's benefits.

[0042] (2) The grid frame is divided into a grid plate and a bottom plate, which not only makes it more convenient to clean the inside of the grid frame, but also, the separation of the grid plate and the bottom plate provides convenience for subsequent flipping operations.

[0043] (3) An activity door and a switch hole are provided on the bottom plate, and an elastic member with an inclined surface is used as a switch structure, and a sorting device with a stop piece and a thimble is used as an opening device, so that the activity door can be opened respectively according to the images of good cocoons and inferior cocoons, and the good cocoons and inferior cocoons in the grid frame can be taken out respectively to complete sorting, with a simple structure and convenient operation.

[0044] (4) The flipping device covers the grid frame through an intermediate bottom plate to prevent the cocoons from falling out, and then flips the grid frame through the flipping mechanism of the clamping claws to perform secondary image acquisition on the cocoons on the reverse side of the grid frame, solving the problem that the image acquisition module cannot completely obtain the surface image of the cocoons. Description of the Drawings

[0045] The drawings described herein are used to provide a further understanding of the embodiments of the present invention, form a part of the present invention, and do not limit the embodiments of the present invention;

[0046] Figure 1 It is a schematic diagram of the system module in the present invention;

[0047] Figure 2 It is a schematic diagram of the overall structure of the cocoon selection and picking equipment in the present invention;

[0048] Figure 3 It is a schematic diagram of the grid frame structure in the present invention;

[0049] Figure 4 It is a cross-sectional view of the grid frame in the present invention;

[0050] Figure 5 It is a schematic diagram of the sorting device structure in the present invention;

[0051] Figure 6 It is a schematic diagram of the flipping device structure in the present invention;

[0052] Among them, 1 - conveying device, 2 - first image acquisition device, 3 - square cluster, 4 - sorting device, 5 - grid plate, 6 - bottom plate, 7 - movable door, 8 - switch hole, 9 - connecting rod, 10 - elastic member, 11 - limiting structure, 12 - telescopic device, 13 - ejector pin, 14 - retaining piece, 15 - flipping device, 16 - second image acquisition device, 17 - telescopic assembly, 18 - extension rod, 19 - rotating rod, 20 - clamping claw, 21 - fixed rod, 22 - square, 23 - upper cocoon collection box, 24 - lower cocoon collection box. Detailed implementation mode

[0053] In order to more clearly understand the above-mentioned objects, features and advantages of the present invention, the present invention will be further described in detail below in conjunction with the accompanying drawings and specific implementation modes. It should be noted that, without conflict, the embodiments of the present invention and the features in the embodiments can be combined with each other.

[0054] In the following description, many specific details are set forth in order to fully understand the present invention. However, the present invention can also be implemented in other ways different from those described within the scope here. Therefore, the protection scope of the present invention is not limited by the specific embodiments disclosed below.

[0055] Embodiment 1

[0056] This embodiment provides an intelligent cocoon selection and picking system, as Figure 1 shown, including:

[0057] An image acquisition module for acquiring a first image of the cocoon;

[0058] An image preprocessing module for preprocessing the first image, and the preprocessing includes image enhancement and denoising;

[0059] An image segmentation module for segmenting the first image according to individual cocoons to obtain a plurality of second images;

[0060] An image positioning module for recording first position information of the second image relative to the first image;

[0061] An intelligent sorting module for classifying the second image into an upper cocoon image and a lower cocoon image based on a deep transfer network, and separating the cocoons according to the first position information of the upper cocoon image and the lower cocoon image.

[0062] Stable and consistent image quality is an important basis for ensuring the efficient operation of the cocoon picking system. In this embodiment, a grid cluster is used to place the cocoons to avoid the problem of different degrees of distortion in the middle and peripheral areas of the image. A linear array camera and a light source are used to ensure uniform illumination changes. The mechanical structure ensures that the linear light source and the camera field of view are aligned to ensure uniformity and consistency of the illumination intensity at various locations in the camera field of view. At the same time, a suitable background plate is set, preferably a solid color background, to reduce the interference of environmental factors on image acquisition. The image segmentation module utilizes the characteristics of the grid cluster to segment along the grid edge to prevent sorting errors. The image positioning module utilizes machine vision measurement and positioning algorithms to convert the cocoon image coordinate system and the world coordinate system, establishes a corresponding relationship between the cocoon image position and the spatial position, and provides accurate cocoon position coordinates for the intelligent sorting module. The intelligent sorting module is based on a deep migration network, and before use, it needs to use enough features of the upper cocoon image and the lower cocoon image for learning.

[0063] In a more preferred embodiment, Figure 3 As shown, before obtaining the first image, the silk cocoon is placed in a grid cluster 3 , the first image is an overall image of the grid cluster 3 , and the second image is an image of a single grid on the grid cluster 3 .

[0064] The size of the square cluster 3 is determined according to actual conditions, and the number of individual grids, i.e., squares 22, on the square cluster 3 is determined according to the size of the square cluster 3. The length of the square 22 is greater than the length of the cocoon, and the width of the square 22 is greater than the width of the cocoon and less than the length of the cocoon, so as to prevent the cocoon from rotating sideways in the square 22.

[0065] Embodiment 2

[0066] Based on the first embodiment, this embodiment provides an intelligent cocoon picking device, such as Figure 2 As shown, it includes a conveying device 1, a first image acquisition device 2, a grid cluster 3, and a sorting device 4. The conveying device 1 is used to transmit the grid cluster 3 containing cocoons. The first image acquisition device 2 and the sorting device 4 are both installed above the conveying device 1. The first image acquisition device 2 is used to obtain the first image. The sorting device 4 is used to pack the cocoons on the grid cluster 3 into upper cocoons and lower cocoons.

[0067] Among them, the conveying device 1 can be a belt conveyor or a slide rail conveyor. Preferably, the conveying plane uses two belts or sliders to lift both sides of the square lattice cluster 3 for conveying, which facilitates the sorting device 4 to take out the silkworm cocoons. The first image acquisition device 2 uses a line array camera. One or two sorting devices 4 can be set. When one sorting device 4 is set, the superior cocoon collection box 23 and the inferior cocoon collection box 24 need to move below the cycle of the sorting device 4. When two sorting devices 4 are set, the superior cocoon collection box 23 and the inferior cocoon collection box 24 can be respectively fixed below the two sorting devices 4.

[0068] In a more preferred embodiment, as Figure 3 and 4 shown, the square lattice cluster 3 includes a grid plate 5 and a bottom plate 6, and the grid plate 5 and the bottom plate 6 are detachably connected.

[0069] Among them, the grid plate 5 and the bottom plate 6 can be connected by detachable connection methods such as buckles, hooks, electromagnetic adsorption, etc. For the convenience of subsequent operations, the electromagnetic adsorption connection method is preferably used; the edge of the bottom plate 6 can also be set to be convex, and the grid plate 5 is embedded therein for fixation, playing a role of positioning and limiting.

[0070] In a more preferred embodiment, as Figure 3 and 4 shown, a plurality of through holes are formed in the bottom plate 6, and movable doors 7 that can be opened and closed are respectively arranged in the plurality of through holes.

[0071] Among them, the number of through holes is equal to and corresponds one by one to the number of squares 22, the number of movable doors 7 is equal to the number of through holes and corresponds one by one, and the opening directions of all the movable doors 7 are the same. The connection method of the movable doors 7 and the bottom plate 6 is by hinge or rotating shaft connection.

[0072] In a more preferred embodiment, as Figure 3 and 4 shown, a plurality of switch holes 8 corresponding to the through holes one by one are further formed in the bottom plate 6. A connecting rod 9 is fixedly connected to the movable door 7. At least two elastic members 10 are installed at the end of the connecting rod 9. The elastic members 10 are arranged at intervals. A limiting structure 11 is provided at the top of the elastic member 10. The top of the limiting structure 11 is an inclined surface and the bottom is a plane. The method for closing the movable door 7 includes:

[0073] In the initial state, the elastic member 10 is located at the initial position. At this time, the distance between the tops of the limiting structures 11 of any two of the elastic members 10 is less than the diameter of the switch hole 8. When the movable door 7 is closed, the elastic member 10 moves towards the switch hole 8. The inclined surface contacts the side wall of the switch hole 8 and causes the elastic member 10 to deform and bend inward. When the limiting structure 11 passes through the switch hole 8, that is, when the plane leaves the switch hole 8, the elastic member 10 resumes its original shape. At this time, the bottom plate 6 is below the plane, and the bottom plate 6 contacts the plane to prevent the limiting structure 11 from passing through the switch hole 8.

[0074] Among them, the size and shape of the switch hole 8 can be arbitrary. Preferably, it is a square through-hole with a side length less than the width of the through-hole. One end of the connecting rod 9 is welded or bolted to the lower part of the movable door 7, and the other end extends below the switch hole 8. The elastic member 10 is made of a spring plate and is welded or bolted to the connecting rod 9. The number of elastic members 10 is determined according to the shape of the switch hole 8. Preferably, two are provided corresponding to the two opposite side walls of the switch hole 8, or four are provided corresponding to the four side walls of the switch hole 8. The limiting structure 11 is preferably a triangular prism structure with a right-angled triangle cross-section, with the inclined surface facing upward. One of the right-angled side surfaces is welded or bolted to the outside of the elastic member 10, and the other right-angled side surface faces downward as the plane contacting the bottom plate 6.

[0075] In a more preferred embodiment, as Figure 2-5 shown, the sorting device 4 includes a plurality of telescopic devices 12, which correspond to the switch holes 8 one by one. The top of the telescopic device 12 is fixedly connected with a thimble 13 and a plurality of retaining pieces 14. The thimble 13 is located at the center of the plurality of retaining pieces 14. The retaining pieces 14 correspond to the elastic members 10 one by one. The distance between the outsides of any two of the retaining pieces 14 is less than the diameter of the switch hole 8. When the movable door 7 is closed, the lower end of any retaining piece 14 is opposite to the inclined surface on the corresponding elastic member 10.

[0076] Among them, the telescopic device 12 can be a hydraulic telescopic column or an electric telescopic column. The number of telescopic devices 12 is equal to the number of switch holes 8. The thimble 13 and the retaining pieces 14 can be welded or bolted to the top of the telescopic device 12. The number of retaining pieces 14 is equal to the number of elastic members 10. The length of the retaining piece 14 is greater than the height of the limiting structure 11. After the retaining piece 14 moves downward to be coplanar with the upper surface of the bottom plate or crosses the upper surface of the bottom plate, the thimble 13 contacts the connecting rod 9, and the length of the thimble 13 is greater than the length of the retaining piece 14.

[0077] In a more preferred embodiment, the method for the sorting device 4 to open the movable door 7 includes:

[0078] Step 1: Based on the intelligent sorting module and the image positioning module, determine the telescopic device 12 corresponding to the upper-cocoon image or the lower-cocoon image;

[0079] Step 2: Extend the telescopic device 12. At this time, the ejector pin 13 is inserted between several elastic members 10, and the baffle 14 gradually contacts the inclined surface;

[0080] Step 3: Continue to extend the telescopic device 12. The elastic member 10 deforms inward under the action of the baffle 14 until the baffle 14 is coplanar with the upper surface of the bottom plate;

[0081] Step 4: Continue to extend the telescopic device 12. The ejector pin 13 contacts the connecting rod 9 and pushes the connecting rod 9 to move until the limiting structure 11 disengages from the switch hole 8. At this time, the movable door 7 opens.

[0082] After the movable door 7 opens, the telescopic device 12 resets.

[0083] Embodiment 3

[0084] On the basis of Embodiment 2, as Figure 2-3 and Figure 6 shown, it further includes a flipping device 15 and a second image acquisition device 16 located between the first image acquisition device 2 and the sorting device 4. The flipping device 15 is used to flip the grid cluster 3 after the first image is acquired. The second image acquisition device 16 acquires the image of the flipped grid cluster 3 and obtains a third image. The specific method for distinguishing whether the cocoon is an upper-cocoon or a lower-cocoon is as follows:

[0085] Through the image segmentation module, segment the third image according to individual cocoons to obtain several fourth images;

[0086] Through the image positioning module, correspond the fourth image with the second image before flipping one by one and obtain the second position information;

[0087] Through the intelligent sorting module, based on the deep transfer network, classify the fourth image into a reverse upper-cocoon image and a reverse lower-cocoon image, and separate the cocoons by combining the second position information of the upper-cocoon image, the reverse upper-cocoon image, the lower-cocoon image, and the reverse lower-cocoon image;

[0088] The separation principle is that when the second image and the fourth image recorded in the second position information are the upper-cocoon image and the reverse upper-cocoon image respectively, the cocoon corresponding to the second position information is the upper-cocoon, and the rest are all lower-cocoons.

[0089] Among them, there is an order misalignment after flipping in the position information between the fourth image and the second image. It is necessary to reverse the sorting of the fourth image in the flipping direction, and then record the corresponding fourth image and the second image into the same second position information, that is, the fourth image and the second image in one second position information are the front and back images of the same cocoon; the inferior cocoons include that the second image and the fourth image recorded in the same second position information are the upper cocoon image and the reverse inferior cocoon image, or the inferior cocoon image and the reverse upper cocoon image, or the inferior cocoon image and the reverse inferior cocoon image respectively.

[0090] In a more preferred embodiment, as Figure 2-3 and Figure 6 shown, the flipping device 15 includes a telescopic component 17, two extension rods 18 installed at the telescopic end of the telescopic component 17, and a clamping claw component rotatably connected to the ends of the extension rods 18. The clamping claw component includes a rotating rod 19 and two clamping claws 20 fixedly connected to the rotating rod 19 and having opposite directions. Fixed rods 21 for the clamping claws 20 to grasp are provided at both ends of the bottom plate 6. The method for the flipping device 15 to flip the square lattice cocoon frame 3 includes:

[0091] An excessive bottom plate is clamped on the flipping device 15, and the clamping claws 20 opposite to the clamping claws 20 clamping the excessive bottom plate are in an open state;

[0092] When the square lattice cocoon frame 3 moves to a preset position below the flipping device 15, stop the conveying device 1, extend the telescopic component 17 until the excessive bottom plate matches the upper end of the square lattice cocoon frame 3, and control the clamping claws 20 to clamp the bottom plate 6 of the square lattice cocoon frame 3;

[0093] Contract the telescopic component 17 to a preset position, control the rotating rod 19 to rotate 180 degrees, then extend the telescopic component 17, place the square lattice cocoon frame 3 on the conveying device 1, open the clamping claws 20 clamping the excessive bottom plate, contract the telescopic component 17 to the initial position, and separate the bottom plate 6 of the square lattice cocoon frame 3 from the square lattice cocoon frame 3;

[0094] Start the conveying device 1. At this time, the original bottom plate 6 serves as a new excessive bottom plate waiting for the next flipping operation.

[0095] Among them, the telescopic component 17 can be a hydraulic telescopic column or an electric telescopic column. The length of the extension rod 18 needs to ensure that the square lattice cocoon frame 3 can complete flipping without being blocked by the telescopic component 17. The rotational connection between the clamping claw component and the ends of the extension rods 18 is controlled by a motor, and the rotation principle is to exchange the positions of the two clamping claws 20. The clamping claws 20 can be clamped or opened in an electric or hydraulic manner, and the distance between the two clamping claws 20 is equal to the distance between the two fixed rods 21; as Figure 3As shown, when the switch hole 8 is located on one side of the short side of the square grid 22, and the switch hole 8 and the square grid 22 are symmetric about the midline of the short side of the square grid 22, the position of the fixing rod 21 is the midpoint on the short side of the square grid cluster 3, so that there is no structural change before and after the square grid cluster is flipped. Similarly, when the switch hole 8 is located on one side of the long side of the square grid 22, and the switch hole 8 and the square grid 22 are symmetric about the midline of the long side of the square grid 22, the position of the fixing rod 21 is the midpoint on the long side of the square grid cluster 3, that is, the square grid cluster 3 can be symmetric about the midline of the short side or symmetric about the midline of the long side.

[0096] Although the preferred embodiments of the present invention have been described, those skilled in the art can make additional changes and modifications to these embodiments once they know the basic creative concept. Therefore, the appended claims are intended to be construed to include the preferred embodiments and all changes and modifications falling within the scope of the present invention.

[0097] Obviously, those skilled in the art can make various changes and modifications to the present invention without departing from the spirit and scope of the present invention. Thus, if these modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalent technologies, the present invention also intends to include these modifications and variations.

Claims

1. An intelligent cocoon selection and picking system, characterized in that, it includes: an image acquisition module for acquiring a first image of the cocoon; an image preprocessing module for preprocessing the first image, and the preprocessing includes image enhancement and denoising; an image segmentation module for segmenting the first image into individual cocoons to obtain a plurality of second images; an image positioning module for recording first position information of the second image relative to the first image; an intelligent sorting module for classifying the second image into an upper-cocoon image and a lower-cocoon image based on a deep transfer network, and separating the cocoons according to the first position information of the upper-cocoon image and the lower-cocoon image; Before acquiring the first image, the cocoon is placed in a grid cluster (3), the first image is an overall image of the grid cluster (3), and the second image is an image of a single grid on the grid cluster (3); It further includes an intelligent cocoon selection and picking device, and the intelligent cocoon selection and picking device includes a conveying device (1), a first image acquisition device (2), a grid cluster (3), and a sorting device (4). The conveying device (1) is used for conveying the grid cluster (3) containing cocoons. Both the first image acquisition device (2) and the sorting device (4) are installed above the conveying device (1). The first image acquisition device (2) is used for acquiring the first image, and the sorting device (4) is used for separately packaging the cocoons on the grid cluster (3) according to upper cocoons and lower cocoons; The grid cluster (3) includes a grid plate (5) and a bottom plate (6), and the grid plate (5) and the bottom plate (6) are detachably connected; A plurality of through holes are formed in the bottom plate (6), and each of the plurality of through holes is provided with an openable and closable movable door (7); A plurality of switch holes (8) corresponding to the through holes one by one are further formed in the bottom plate (6). A connecting rod (9) is fixedly connected to the movable door (7). At least two elastic members (10) are installed at the end of the connecting rod (9). The elastic members (10) are arranged at intervals. A limiting structure (11) is provided at the top of the elastic member (10). The top of the limiting structure (11) is an inclined surface and the bottom is a plane. The method for closing the movable door (7) includes: In the initial state, the elastic member (10) is located at the initial position, and the distance between the tops of the limiting structures (11) of any two elastic members (10) is smaller than the diameter of the switch hole (8); when closing the movable door (7), the elastic member (10) moves towards the switch hole (8), the inclined surface contacts the side wall of the switch hole (8) and causes the elastic member (10) to deform and bend inwards. When the limiting structure (11) passes through the switch hole (8), that is, the plane leaves the switch hole (8), the elastic member (10) resumes its original shape, and the bottom plate (6) contacts the plane to prevent the limiting structure (11) from passing through the switch hole (8).

2. An intelligent cocoon selection and picking system according to claim 1, characterized in that, The sorting device (4) includes a number of telescopic devices (12), which correspond to the switch holes (8) one by one. The top of the telescopic device (12) is fixedly connected with a thimble (13) and a number of baffles (14). The thimble (13) is located at the center of the number of baffles (14), and the baffles (14) correspond to the elastic members (10) one by one. The distance between the outer sides of any two baffles (14) is less than the diameter of the switch hole (8). When the movable door (7) is closed, the lower end of any baffle (14) is opposite to the inclined surface on the corresponding elastic member (10).

3. The intelligent cocoon selection and picking system according to claim 2, wherein, the method for the sorting device (4) to open the movable door (7) includes: Step 1: Based on the intelligent sorting module and the image positioning module, determine the telescopic device (12) corresponding to the upper cocoon image or the lower cocoon image; Step 2: Insert the thimble (13) between the number of elastic members (10), and extend the telescopic device (12) until the baffle (14) contacts the inclined surface; Step 3: Continue to extend the telescopic device (12), and the elastic member (10) deforms inward under the action of the baffle (14) until the baffle (14) is coplanar with the upper surface of the bottom plate (6); Step 4: Continue to extend the telescopic device (12), the thimble (13) contacts the connecting rod (9) and pushes the connecting rod (9) to move until the limiting structure (11) disengages from the switch hole (8), and the movable door (7) opens.

4. The intelligent cocoon selection and picking system according to claim 1, wherein, it further includes a turning device (15) and a second image acquisition device (16) located between the first image acquisition device (2) and the sorting device (4). The turning device (15) is used to turn the grid cluster (3) after the first image is acquired. The second image acquisition device (16) acquires the image of the turned grid cluster (3) and obtains a third image. The specific method for distinguishing whether the cocoon is an upper cocoon or a lower cocoon is as follows: Through the image segmentation module, the third image is segmented according to individual cocoons to obtain a number of fourth images; Through the image positioning module, the fourth images are corresponded to the second image before turning one by one to obtain the second position information; Through the intelligent sorting module, the fourth images are classified into reverse upper cocoon images and reverse lower cocoon images based on the deep transfer network, and the cocoons are separated by combining the second position information of the upper cocoon images, reverse upper cocoon images, lower cocoon images and reverse lower cocoon images.

5. The intelligent cocoon selection and picking system according to claim 4, wherein, The flipping device (15) includes a telescopic assembly (17), two extension rods (18) mounted at the telescopic end of the telescopic assembly (17), and a clamping jaw assembly rotatably connected to the ends of the extension rods (18). The clamping jaw assembly includes a rotating rod (19) and two clamping jaws (20) fixedly connected to the rotating rod (19) and in opposite directions. Fixed rods (21) for the clamping jaws (20) to grip are provided at both ends of the bottom plate (6). The method for the flipping device (15) to flip the grid cluster (3) includes: An excessive bottom plate is clamped on the flipping device (15), and the clamping jaws (20) opposite to the clamping jaws (20) clamping the excessive bottom plate are in an open state; When the grid cluster (3) moves to a preset position below the flipping device (15), stop the conveying device (1), extend the telescopic assembly (17) until the excessive bottom plate matches the upper end of the grid cluster (3), and control the clamping jaws (20) to clamp the bottom plate (6) of the grid cluster (3); Shrink the telescopic assembly (17) to a preset position, control the rotating rod (19) to rotate 180 degrees, then extend the telescopic assembly (17), place the grid cluster (3) on the conveying device (1), open the clamping jaws (20) clamping the excessive bottom plate, shrink the telescopic assembly (17) to the initial position, and separate the bottom plate (6) of the grid cluster (3) from the grid cluster (3); Start the conveying device (1), and the original bottom plate (6) serves as a new excessive bottom plate waiting for the next flipping operation.

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