A pineapple fruit eye removal device and method driven by a linear array camera

Abstract

The present invention discloses a pineapple eye removal device and method driven by a linear array camera, comprising a base, a rotating worktable provided on the front side of the base; a vertical frame provided on one side of the base, a vertical linear displacement worktable and a linear array camera provided on the vertical frame; an eye removal tool provided on the vertical linear displacement worktable, the eye removal tool being located on one side of the rotating worktable; and a lens field of view of the linear array camera covering the rotating worktable. In the removal device, the peeled pineapple is fixed on the rotating worktable, the eye removal tool is fixed on the vertical linear displacement worktable, the linear array camera is used to identify the eye, and then the combined action of the pineapple rotation and the eye removal tool is used to achieve continuous eye removal. The present invention has the characteristics of high pulp utilization, fast eye removal speed, and strong adaptability, and is suitable for accurate and efficient eye removal of pineapples of various sizes.

Description

Technical Field

[0001] The present invention relates to the field of intelligent mechanical technology, and in particular to a pineapple eye removal device and method driven by a linear array camera. Background Art

[0002] Removing pineapple eyes is a crucial step in pineapple processing. Accurately identifying and extracting eyes is a crucial prerequisite for achieving high-precision eye removal. Each pineapple eye is a polygonal shape with a dramatic grayscale change in the digital image. This polygon is approximately a circle, so a binarization plus contour detection method can generally be used to determine whether it is an eye. However, the irregularity of the pineapple eye shape significantly impacts eye detection. Therefore, the present invention proposes a linear array camera-driven pineapple eye recognition method and removal device. Pineapple eyes are identified through polygon fitting, followed by linear fitting to accurately calculate the pineapple's rotational speed and the tool's vertical movement speed to complete eye removal. Summary of the Invention

[0003] The purpose of the present invention is to provide a pineapple eye removal device and removal method driven by a linear array camera. The present invention has the characteristics of high pulp utilization, fast eye removal speed and strong adaptability, and is suitable for accurately and efficiently removing the eyes of pineapples of various sizes.

[0004] The technical solution of the present invention is as follows: a pineapple eye removal device driven by a linear array camera, comprising a base, a rotating worktable provided on the front side of the base; a vertical frame is provided on one side of the base, a vertical linear displacement worktable and a linear array camera are provided on the vertical frame; a pineapple eye removal tool is provided on the vertical linear displacement worktable, and the pineapple eye removal tool is located on one side of the rotating worktable; the lens field of the linear array camera covers the rotating worktable.

[0005] The above-mentioned pineapple eye removal device driven by a linear array camera, the rotating workbench includes a first motor fixed on a base, the output end of the first motor is connected to a rotating base, and a plurality of puncture needles are provided on the rotating base.

[0006] The aforementioned pineapple eye removal device driven by a linear array camera, the vertical linear displacement workbench includes a track frame fixed on a vertical frame, a screw rod is provided in the middle of the track frame, and linear slide rails are provided on both sides of the screw rod; a second motor is provided at the upper end of the track frame, and the output end of the second motor is connected to the screw rod; a moving block is threadedly connected to the screw rod, and both sides of the moving block are slidably connected to the linear slide rails; the fruit eye removal tool is arranged on the moving block.

[0007] The aforementioned pineapple eye removal method of the linear array camera-driven pineapple eye removal device, in the removal device, the peeled pineapple is fixed on a rotating workbench, the eye removal tool is fixed on a vertical linear displacement workbench, the linear array camera is used to identify the eye, and then the combined action of the pineapple rotation and the eye removal tool is used to achieve continuous removal of the eye.

[0008] The aforementioned pineapple eye removal method of the linear array camera-driven pineapple eye removal device comprises the following steps:

[0009] S1: Arrange a linear array camera along the pineapple's axis and ensure that the lens field of view covers the entire pineapple's axial features. Use a light source with a central wavelength of 570nm to provide auxiliary lighting for the pineapple.

[0010] S2: The pineapple is rotated at a constant speed along its axis using a rotating worktable, and a line scan camera is used to continuously capture real-time images of the pineapple. Finally, the columns of information continuously recorded by the line scan camera are stitched together horizontally to form an image of the pineapple's surface.

[0011] S3: Binarize the expanded image using an adaptive threshold segmentation method and perform polygon fitting on all closed areas in the image. Based on the fitted polygons, determine whether they are eyes and obtain the coordinates of their center points.

[0012] S4: Use the Hough line detection method to confirm the line parameters of all the center points in the image and calculate the pineapple rotation speed and the tool vertical movement speed based on the fitted straight line;

[0013] S5: Dynamically adjust the vertical movement speed of the tool based on the adjacent eye coordinate points and remove all the eyes on the pineapple surface.

[0014] In the aforementioned pineapple eye removal method using a linear array camera-driven pineapple eye removal device, in step S3, the eye judgment algorithm is:

[0015]

[0016] Among them, n is the number of sides of the closed area polygon after fitting, n th It is the preset polygon edge length threshold.

[0017] In the aforementioned pineapple eye removal method driven by the linear array camera, in step S3, the center coordinates of the eye area are calculated as follows:

[0018]

[0019] Among them, X0 is the horizontal coordinate of the center of the circle, Y0 is the vertical coordinate of the center of the circle, max is the maximum horizontal coordinate of the eye area, X minY is the minimum horizontal coordinate of the eye area, max Y is the maximum vertical coordinate of the eye area, min is the minimum vertical coordinate of the eye area, and ε is the magnification coefficient of the visual system.

[0020] In the aforementioned pineapple eye removal method using a linear array camera-driven pineapple eye removal device, in step S4, the algorithm for determining the linear parameters is:

[0021]

[0022] Among them, k is the slope of the fitted line, b is the intercept of the fitted line, and Count(.) is the symbol for calculating the number of occurrences. is the lower slope threshold, is the upper slope threshold.

[0023] In the aforementioned pineapple eye removal method using a linear array camera-driven pineapple eye removal device, in step S4, the algorithm for calculating the pineapple rotation speed and the tool vertical movement speed is:

[0024] v=Rωk;

[0025] Where v is the vertical moving speed of the tool, ω is the angular velocity of the pineapple rotating platform, k is the slope of the fitting line, and R is the average radius of the pineapple after peeling.

[0026] In the aforementioned pineapple eye removal method using a linear array camera-driven pineapple eye removal device, in step S5, the algorithm for dynamically adjusting the vertical movement speed of the tool is:

[0027]

[0028] Among them, v0 is the dynamically adjusted vertical displacement speed of the tool, is the weight of the fitted line, x n is the horizontal coordinate of the point that the cutting tool passes in real time, y n is the ordinate of the point where the cutting tool passes in real time, x n+1 is the horizontal coordinate of the next point that the cutting tool will pass through, y n+1 It is the ordinate of the next point that the cutting tool will pass through.

[0029] Compared with the existing technology, the present invention has the characteristics of high pulp utilization, fast eye removal speed, and strong adaptability, and is suitable for accurately and efficiently removing eye from pineapples of various sizes. In the process of identifying and removing eye, the present invention first arranges a linear array camera along the pineapple's axial direction to ensure that the lens field of view covers the entire pineapple's axial features. Then, a rotating worktable is used to control the pineapple to rotate at a uniform speed along the axial direction, and the linear array camera is used to continuously and in real time to obtain an unfolded image of the pineapple's surface. Then, an adaptive threshold segmentation method is used to binarize the unfolded image and polygon fitting is performed on all closed areas in the image. Based on the fitted polygons, it is determined whether they are eye points and their center coordinates are obtained. Then, the Hough line detection method is used to confirm the line parameters of all center points in the image and the pineapple rotation speed and the tool vertical movement speed are calculated based on the fitted lines. Finally, the tool vertical movement speed is dynamically adjusted based on the coordinates of adjacent eye points to remove all eye points from the pineapple surface. The present invention performs two fittings when processing images, so it can be applied to identify fruit eyes of various shapes and calculate the pineapple rotation speed and the vertical movement speed of the tool. It has the characteristics of high pulp utilization rate, fast fruit eye removal speed, strong adaptability, etc. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Figure 1 is a schematic diagram of the present invention;

[0031] Figure 2 is a flow chart of the present invention;

[0032] Figure 3 is a photo of a peeled pineapple used in Example 1 of the present invention;

[0033] Figure 4 is a surface unfolded image of a pineapple in Example 1 of the present invention;

[0034] Figure 5 is the image obtained by polygon fitting the fruit eye in Example 1 of the present invention;

[0035] Figure 6 is a schematic diagram of a straight line after fitting in Example 1 of the present invention;

[0036] Figure 7 is the vertical velocity variation curve in Example 1 of the present invention;

[0037] Reference numerals

[0038] 1. Base; 2. Rotating worktable; 3. Vertical frame; 4. Vertical linear displacement worktable; 5. Linear array camera; 6. Eye removal tool; 7. First motor; 8. Rotating seat; 9. Puncture needle; 10. Track frame; 11. Screw; 12. Linear slide; 13. Moving block. DETAILED DESCRIPTION

[0039] The present invention will be further described below with reference to the accompanying drawings and examples, but they are not intended to limit the present invention.

[0040] Example 1: A pineapple eye removal device driven by a linear array camera, such as Figure 1 As shown, it includes a base 1, a rotating worktable 2 is provided on the front side of the base 1; a vertical frame 3 is provided on one side of the base 1, and a vertical linear displacement worktable 4 and a linear array camera 5 are provided on the vertical linear displacement worktable 4; a fruit eye removal tool 6 is provided on the vertical linear displacement worktable 4, and the fruit eye removal tool 6 is located on one side of the rotating worktable 2; the lens field of view of the linear array camera 5 covers the rotating worktable 2. The rotating worktable 2 includes a first motor 7 fixed to the base 1, and the output end of the first motor 7 is connected to a rotating base 8, and a plurality of puncture needles 9 are provided on the rotating base 8. The peeled pineapple is fixed to the rotating base 8 by the puncture needles 9, and then driven to rotate by the first motor 7. During the rotation, the linear array camera 5 takes a picture of the pineapple.

[0041] Furthermore, the vertical linear displacement workbench 4 includes a track frame 10 fixed to the vertical frame 3, a screw rod 11 is provided in the middle of the track frame 10, and linear slide rails 12 are provided on both sides of the screw rod 11; a second motor 13 is provided at the upper end of the track frame 10, and the output end of the second motor 13 is connected to the screw rod 11; a moving block 13 is threadedly connected to the screw rod 11, and both sides of the moving block 13 are slidably connected to the linear slide rails 12; the fruit eye removal tool 6 is provided on the moving block 13. The second motor 13 drives the screw rod 11 to rotate, so that the screw rod 11 drives the moving block 13 to move up and down, thereby driving the fruit eye removal tool 6 to move up or down. At this time, in conjunction with the rotation of the rotating base 8, the fruit eye removal tool 6 is V-shaped to achieve the removal of the fruit eye.

[0042] Example 2: A method for removing pineapple eyes driven by a linear array camera. This example is based on the removal device described in Example 1. In the removal device, the peeled pineapple is fixed on a rotating workbench, and the eye removal tool is fixed on a vertical linear displacement workbench. The linear array camera is used to identify the eye, and then the combined action of the pineapple rotation and the eye removal tool is used to achieve continuous removal of the eye. The flow chart is as follows: Figure 2 As shown, the following steps are included:

[0043] 1) Get a peeled pineapple as shown below Figure 3 As shown;

[0044] 2) Arrange a linear array camera along the pineapple's axial direction to ensure that the lens field of view covers the entire pineapple's axial features, and use a light source with a central wavelength of 570nm to provide auxiliary lighting for the pineapple;

[0045] 3) The pineapple is rotated at a constant speed along the axis by a rotating workbench, and the pineapple is continuously photographed in real time using a linear array camera. Finally, the column information continuously recorded by the linear array camera is spliced horizontally into a surface unfolded image of the pineapple as shown in the attached figure. Figure 4 As shown;

[0046] 4) Adopt the adaptive threshold segmentation method to perform binarization operation on the expanded image and perform polygon fitting on all closed areas in the image. Based on the fitted polygon, determine whether it is a fruit eye and obtain its center coordinates, as shown in the attached figure. Figure 5 As shown;

[0047]

[0048] Where n is the number of sides of the closed area polygon after fitting, and nth is the preset polygon side length threshold. In this example, nth is set to 8.

[0049]

[0050] Among them, X0 is the horizontal coordinate of the center of the circle, Y0 is the vertical coordinate of the center of the circle, max is the maximum horizontal coordinate of the eye area, X min Y is the minimum horizontal coordinate of the eye area, max Y is the maximum vertical coordinate of the eye area, min is the minimum vertical coordinate of the eye area, ε is the magnification factor of the visual system, and in this example ε is set to 1;

[0051] 5) Use the Hough line detection method to confirm the line parameters of all the center points in the image and calculate the pineapple rotation speed and the tool vertical movement speed based on the fitted line. The fitted line is shown in the attached figure. Figure 6 As shown in the attached figure, the tool vertical moving speed change curve is shown in the attached figure. Figure 7 As shown;

[0052]

[0053] Among them, k is the slope of the fitted line, b is the intercept of the fitted line, and Count(.) is the symbol for calculating the number of occurrences. is the lower slope threshold, is the upper threshold of the slope;

[0054] v=Rωk

[0055] Where v is the vertical moving speed of the tool, ω is the angular velocity of the pineapple rotating platform, k is the slope of the fitting line, R is the average radius of the peeled pineapple. In this example, R is set to 60 mm and ω is set to 0.5 rad / s.

[0056] Dynamically adjust the vertical movement speed of the tool based on the adjacent eye coordinate points and remove all the eyes on the pineapple surface;

[0057]

[0058] Among them, v0 is the dynamically adjusted vertical displacement speed of the tool, is the weight of the fitted line, x n is the horizontal coordinate of the point that the cutting tool passes in real time, y n is the ordinate of the point where the cutting tool passes in real time, x n+1 is the horizontal coordinate of the next point that the cutting tool will pass through, y n+1 It is the ordinate of the next point that the cutting tool will pass through.

[0059] In summary, the present invention has the characteristics of high pulp utilization rate, fast eye removal speed and strong adaptability, and is suitable for accurately and efficiently removing the eyes of pineapples of various sizes.

Claims

1. A pineapple eye removal device driven by a linear array camera, characterized in that: The invention comprises a base (1), wherein a rotating worktable (2) is provided on the front side of the base (1); a vertical frame (3) is provided on one side of the base (1), and a vertical linear displacement worktable (4) and a linear array camera (5) are provided on the vertical frame (3); a fruit eye removal tool (6) is provided on the vertical linear displacement worktable (4), and the fruit eye removal tool (6) is located on one side of the rotating worktable (2); and the lens field of the linear array camera (5) covers the rotating worktable (2); In the removal device, the peeled pineapple is fixed on a rotating workbench, and the eye removal tool is fixed on a vertical linear displacement workbench. A line array camera is used to identify the eye, and then the combined action of the pineapple rotation and the eye removal tool is used to achieve continuous removal of the eye. The eye removal comprises the following steps: S1: Arrange a linear array camera along the pineapple's axis, ensuring that the lens field of view covers the entire pineapple's axial features. Use a light source with a central wavelength of 570nm to provide auxiliary illumination for the pineapple. S2: The pineapple is rotated at a constant speed along its axis using a rotating table, and a line scan camera is used to continuously capture real-time images of the pineapple. Finally, the columns of information continuously recorded by the line scan camera are stitched together horizontally to form an image of the pineapple's surface. S3: Adopting the adaptive threshold segmentation method to perform binarization on the expanded image and perform polygon fitting on all closed areas in the image. Based on the fitted polygon, determine whether it is a fruit eye and obtain its center coordinates; S4: Use the Hough line detection method to confirm the line parameters of all circle center points in the image and calculate the pineapple rotation speed and tool vertical movement speed based on the fitted straight line; S5: Dynamically adjust the vertical movement speed of the tool based on the adjacent eye coordinate points and remove all the eyes on the pineapple surface; In step S3, the algorithm for judging the fruit eye is: in, is the number of sides of the closed area polygon after fitting, It is the preset polygon edge length threshold; In step S4, the algorithm for confirming the straight line parameters is: ； Where k is the slope of the fitted line, b is the intercept of the fitted line, To count the number of occurrences of a symbol, is the lower slope threshold, is the upper slope threshold.

2. The pineapple eye removal device driven by a linear array camera according to claim 1, characterized in that: The rotating workbench (2) comprises a first motor (7) fixed on the base (1); the output end of the first motor (7) is connected to a rotating base (8); and a plurality of puncture needles (9) are provided on the rotating base (8).

3. The pineapple eye removal device driven by a linear array camera according to claim 1, characterized in that: The vertical linear displacement workbench (4) comprises a track frame (10) fixed on the vertical frame (3), a screw rod (11) is provided in the middle of the track frame (10), and linear slide rails (12) are provided on both sides of the screw rod (11); a second motor is provided at the upper end of the track frame (10), and the output end of the second motor is connected to the screw rod (11); a moving block (13) is threadedly connected to the screw rod (11), and both sides of the moving block (13) are slidably connected to the linear slide rails (12); the fruit eye removal tool (6) is provided on the moving block (13).

4. The pineapple eye removal device driven by a linear array camera according to claim 1, characterized in that: In step S3, the center coordinates of the eye area are calculated as follows: ； in, is the horizontal coordinate of the center of the circle, is the vertical coordinate of the center of the circle, is the maximum horizontal coordinate of the eye area, is the minimum horizontal coordinate of the eye area, is the maximum vertical coordinate of the eye area, is the minimum vertical coordinate of the eye area, is the magnification factor of the visual system.

5. The pineapple eye removal device driven by a linear array camera according to claim 1, characterized in that: In step S4, the algorithm for calculating the pineapple rotation speed and the tool vertical movement speed is: ； in, is the vertical moving speed of the tool, is the angular velocity of the pineapple rotating platform, is the slope of the fitted straight line, is the average radius of the peeled pineapple.

6. The pineapple eye removal device driven by a linear array camera according to claim 5, characterized in that: In step S5, the algorithm for dynamically adjusting the vertical movement speed of the tool is: ； in, To dynamically adjust the vertical displacement speed of the tool, is the weight of the fitted line, is the horizontal coordinate of the point that the cutting tool passes in real time, is the ordinate of the point that the cutting tool passes in real time, is the horizontal coordinate of the next point that the cutting tool will pass through, It is the ordinate of the next point that the cutting tool will pass through.

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