Filling material visual sorting system and sorting method

Abstract

The application discloses a kind of stuffing material visual sorting systems, including vibration discharge feeding mechanism, frozen stuffing material visual detection mechanism, shunt discharge mechanism and electric control device, electric control device connects vibration discharge feeding mechanism, frozen stuffing material visual detection mechanism and shunt discharge mechanism;Vibration discharge feeding mechanism is used to order feeding for frozen stuffing material visual detection mechanism;Frozen stuffing material visual detection mechanism is used to visually identify stuffing material;Shunt discharge mechanism is used to sort out defective stuffing material and supply defect-free stuffing material to subsequent process.The application also discloses a corresponding sorting method.The design idea of the application is faster than ordinary image recognition, with high accuracy and relatively low equipment cost, and will not delay process control due to more time-consuming image processing.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of food detection, in particular to the technology of food automatic detection and sorting. BACKGROUND

[0002] In recent years, the frozen food industry has developed rapidly, and the demand for frozen food has also been increasing. Stuffed food occupies an important position in frozen food, such as various steamed buns, dumplings, tangyuan, and mixed rice balls, etc. can be frozen. Among the stuffed frozen food, the flour products account for the majority.

[0003] At present, the processing of dumplings and other stuffed food has formed a relatively perfect mechanized production demand, but whether it is mechanized or manual, there will be some defective stuffed frozen food (defects refer to the situation that the dough skin is cracked, lacks part of the dough skin, and the stuffing is exposed). The existing detection and rejection of defects often need to be completed by manual work, which is low in work efficiency and easy to miss detection, so it is necessary to develop intelligent detection technology that does not depend on manual inspection. Manual detection has the problems of arranging materials and feeding. The detector can manually or use tools to move the stuffed frozen food to perform eye observation and recognition.

[0004] Using the frozen stuffed material visual detection mechanism has the problems of arranging materials and feeding. Due to the structural limitation, the frozen stuffed material visual detection mechanism detects the detection position of the stuffed material (stuffed frozen food) which is high; in order to support the intelligent detection technology that does not depend on manual inspection, it is necessary to develop a mechanism for regular arrangement of materials and regular feeding to provide continuous feeding support for the frozen stuffed material visual detection mechanism.

[0005] The visual detection needs to solve the problems of making the stuffed frozen food pass through the shooting device in order, fully and completely shooting the surface of the stuffed frozen food, continuously providing a clean and pure color background, and sorting the defective stuffed material. SUMMARY

[0006] The purpose of the present application is to provide a stuffed material visual sorting system to solve the problems of feeding, visual detection, and automatic sorting and discharging.

[0007] To achieve the above purpose, the stuffed material visual sorting system of the present application comprises a vibrating material arranging and feeding mechanism, a frozen stuffed material visual detection mechanism, a shunt discharging mechanism, and an electric control device, and the electric control device is connected with the vibrating material arranging and feeding mechanism, the frozen stuffed material visual detection mechanism, and the shunt discharging mechanism.

[0008] The vibrating material arranging and feeding mechanism is used for orderly feeding the frozen stuffed material visual detection mechanism.

[0009] The frozen stuffed material visual detection mechanism is used for visual recognition of the stuffed material.

[0010] The diversion and discharge mechanism is used to sort out defective filling materials and supply defect-free filling materials to subsequent processes.

[0011] The vibrating discharge and feeding mechanism includes a vibrating feeding device and an inclined lifting device. The inclined lifting device is used to lift the material falling from the vibrating feeding device and supply it to the visual inspection mechanism for frozen self-made filling materials.

[0012] The vibrating feeder is used to disperse materials and arrange them in an orderly manner. The vibrating feeder includes a feed frame, which is connected to a vibrating feed rack at the top via a support spring. A vibrating motor is installed on the vibrating feed rack.

[0013] With the material movement direction as the forward direction, multiple V-shaped grooves are evenly arranged side by side inside the vibrating feeder. The top of each V-shaped groove is flush with the top of the vibrating feeder, the rear end of each V-shaped groove is connected to the rear baffle of the vibrating feeder, and the front end of each V-shaped groove extends forward out of the vibrating feeder and serves as the material dropping end of the V-shaped groove. The material dropping end of each V-shaped groove serves as the material dropping end of the vibrating feeder. The vibrating feeder and each V-shaped groove are inclined with the rear higher than the front. The V-shaped grooves are used to accommodate the conveyed material and to convey the material forward along the V-shaped grooves under the action of vibration.

[0014] A visual inspection mechanism for frozen fillings includes an inspection frame with a circulating drive mechanism for driving a transparent plate to circulate through a shooting area located at the top of the inspection frame.

[0015] Above the shooting area is an upper shooting device for shooting fillings from top to bottom, and below the shooting area is a lower shooting device for shooting fillings from bottom to top.

[0016] With the material movement direction as the forward direction, the top of the detection frame is equipped with a shooting guide structure to allow filling materials to pass through the shooting area in an orderly manner;

[0017] The top of the detection frame behind the shooting area is connected to a feeding guide structure for receiving filling materials falling from the front of the shooting guide structure.

[0018] The diversion and discharge mechanism includes a defect-free filling material discharge mechanism and a defective filling material diversion mechanism; the direction of movement of the defect-free filling material is the forward direction;

[0019] The defect-free filling material outflow mechanism includes an outflow frame that is inclined at the rear and low at the front, and a horizontally arranged end frame.

[0020] The discharge frame is equipped with an inclined left baffle and an inclined right baffle that are higher at the rear and lower at the front. An inclined feeding belt conveyor mechanism is installed between the inclined left baffle and the inclined right baffle.

[0021] The end frame is equipped with a horizontal left baffle and a horizontal right baffle that are horizontally arranged in the front-to-back direction. A horizontal discharge belt conveyor is installed between the horizontal left baffle and the horizontal right baffle. The inclined discharge belt conveyor is used to receive the defect-free filling material sent from the upstream process and send it to the horizontal discharge belt conveyor.

[0022] The defective filling material diversion mechanism includes an inclined diversion conveyor, a transverse conveyor, and a waste collection box, with the top of the waste collection box open.

[0023] The inclined diversion conveyor is mounted above the inclined feeding belt conveyor. The end of the inclined diversion conveyor is located above the transverse conveyor and is used to send defective filling materials to the transverse conveyor. The end of the transverse conveyor is located above the waste collection box and is used to send defective filling materials into the waste collection box.

[0024] The inclined diversion conveyor is used to receive defective filling materials from the upstream process and send them to the waste collection box via a transverse conveyor.

[0025] The tilting lifting device includes a lifting frame that extends forward and upward from below the material dropping end of the vibrating feeding device to the feeding end of the visual inspection mechanism for frozen filling materials.

[0026] The lifting frame is equipped with a belt conveyor mechanism, which includes a front upper roller, a rear lower roller, and a lifting belt wound between the front upper roller and the rear lower roller. The central shaft of the front upper roller or the rear lower roller is connected to the output shaft of the lifting motor, and the lifting motor is mounted on the lifting frame.

[0027] Inside the lifting frame, above the lifting belt, there are left and right partition plates along the direction of the lifting belt's rotation. Multiple left and right partition plates are evenly spaced along the left and right direction. Two adjacent left and right partition plates form a longitudinal groove above the lifting belt, and the longitudinal groove corresponds one-to-one with the V-shaped groove. Front and rear partition plates are provided on the surface of the lifting belt at the positions corresponding to each longitudinal groove. The front and rear partition plates that move to the upper surface of the lifting belt are located in the longitudinal groove and their two ends are adjacent to the corresponding left and right partition plates. Multiple front and rear partition plates corresponding to each longitudinal groove are evenly spaced along the circumferential direction of the lifting belt. Two adjacent front and rear partition plates in the longitudinal groove and the left and right partition plates on their left and right sides form a movable material lifting chute.

[0028] The top of the frame is flat, and the cyclic drive mechanism includes a left chain mechanism, a right chain mechanism, a transmission shaft, a driven gear, a chain drive motor, and a driving gear;

[0029] The left chain mechanism and the right chain mechanism have the same structure. The left chain mechanism is located at the left end of the testing frame, and the right chain mechanism is located at the right end of the testing frame.

[0030] The left chain mechanism and the right chain mechanism are collectively referred to as a one-sided chain mechanism;

[0031] One-sided chain mechanism includes a chain and four corner support sprockets, the four corner support sprockets include two upper corner support sprockets and two lower corner support sprockets;

[0032] Two upper corner support sprockets are respectively installed at the rear end and front end of the top of the testing frame, and two lower corner support sprockets are located in the middle or bottom of the testing frame and are located directly below the two upper corner support sprockets.

[0033] The chain passes around and is driven by the corner support sprockets.

[0034] The drive shaft is connected between the two lower corner support sprockets at the rear end or between the two lower corner support sprockets at the front end of the left and right chain mechanisms. The left and right ends of the drive shaft are mounted on the testing frame by bearings.

[0035] The driven gear is installed in the middle of the drive shaft, and a motor mounting bracket is provided on the frame adjacent to the drive shaft. The chain drive motor is fixedly connected to the motor mounting bracket, and the driving gear is installed on the output shaft of the chain drive motor. The driving gear meshes with the driven gear.

[0036] The transparent plate is connected between the chain of the left chain mechanism and the chain of the right chain mechanism. Multiple transparent plates are evenly spaced along the circumferential direction of the chain extension, and the gap between adjacent transparent plates is 10±3 mm.

[0037] The inclined feeding belt conveyor includes a front upper roller shaft, a rear lower roller shaft, and an inclined belt wound between the front upper roller shaft and the rear lower roller shaft. The front upper roller shaft or the rear lower roller shaft is connected to the output shaft of the inclined discharge motor, which is mounted on the inclined left baffle or the inclined right baffle.

[0038] The horizontal discharge belt conveyor mechanism includes a front roller shaft, a rear roller shaft, and a horizontal belt wound between the front roller shaft and the rear roller shaft. The front roller shaft or the rear roller shaft is connected to the output shaft of the horizontal discharge motor, which is mounted on the horizontal left baffle or the horizontal right baffle.

[0039] The bottom of the lifting frame is equipped with a lower guide device, which includes a lower baffle. The left and right ends of the lower baffle are fixedly connected to the left and right ends of the lifting frame through lower connecting plates. Several lower guide plates are provided on the lower baffle, corresponding one-to-one with the left and right partition plates. The bottom end of the lower guide plate is adjacent to the bottom end of the corresponding left and right partition plates, and the top end of the lower guide plate extends upward to the corresponding V-shaped groove. The adjacent lower guide plates and the lower baffles between them form a material transfer groove that corresponds one-to-one with both the V-shaped groove and the longitudinal groove.

[0040] The top of the lifting frame is equipped with an upper guide device, which includes an upper baffle. The left and right ends of the upper baffle are fixedly connected to the left and right ends of the lifting frame through upper connecting plates. Several upper guide plates are provided on the upper baffle in correspondence with the left and right partition plates. The bottom end of the upper guide plate is adjacent to the feeding end of the visual inspection mechanism for frozen filling materials.

[0041] A suspension shaft is fixedly connected to the frame directly above the drive shaft. Two suspension rods are fixedly connected downwards to the suspension shaft. Bearings or sliding sleeves are installed at the bottom of the suspension rods. The drive shaft passes through the bearings or sliding sleeves at the bottom of the suspension rods.

[0042] The inclined diversion conveyor mechanism includes a front support beam and a rear support beam, which are supported on the inclined left baffle and the inclined right baffle by outriggers, respectively.

[0043] Multiple rear hinge seats are fixedly installed on the rear support beam at intervals on the left and right. Each rear hinge seat is hinged to a rear rotating plate in the upward direction, and the rear rotating plate is fixedly connected to a guide chute in the upward direction.

[0044] The front support beam is located in front of and below the rear support beam. Multiple front hinge seats are fixedly installed on the front support beam at intervals on the left and right. The front hinge seats are arranged one-to-one with the rear hinge seats. Each front hinge seat is hinged upward to a corresponding pushing device, which is a pneumatic cylinder, a hydraulic cylinder, or an electric push rod. The extension rod of each pushing device is hinged upward to a corresponding front rotating plate, and the front rotating plate is connected upward to the guide trough.

[0045] When the extension rod of the jacking device extends upward, the front end of the corresponding guide chute falls downward to its receiving position;

[0046] When the extension rod of the jacking device retracts downward, the front end of the corresponding guide chute rises upward to its material discharge position; the front end of each guide chute is located above the transverse conveying mechanism.

[0047] The lower ends of each upper guide plate are bifurcated to the left and right, making each upper guide plate a Y-shaped opening at the bottom. Adjacent upper guide plates and upper baffles form a feeding trough with a constricted bottom.

[0048] The transparent plate is connected to the chain of the left chain mechanism and the chain of the right chain mechanism through a transparent plate connection structure;

[0049] The transparent panel connection structure is:

[0050] The chain includes inner links and outer links, which are alternately connected to form the chain. Each inner link includes two inner links and each outer link includes two outer links. A pin connects the two outer links and the two inner links. A connecting rod is provided in the middle of the two inner links, which protrudes upward. A connecting rod is fixedly passed through the connecting rod of the two inner links, and the connecting rod extends inward and connects to the transparent plate.

[0051] The material guide trough is equipped with a material guide belt conveyor mechanism, which has a material guide belt and a material guide drive motor for driving the material guide belt to rotate. The material guide drive motor is installed on the side wall of the material guide trough.

[0052] The front of the vibrating feeder is connected upward to a scraper plate that is inclined with the rear lower than the front. The left end of the scraper plate is connected to the top of the left end of the feeder frame through a left turn plate, and the right end of the scraper plate is connected to the top of the right end of the feeder frame through a right turn plate. The bottom end of the scraper plate is adjacent to the top of each V-groove and is higher than the top of each V-groove.

[0053] The standard thickness of the conveyed material is H, the maximum thickness error of the conveyed material is B, and the thickness of each conveyed material is less than H+B and greater than HB.

[0054] The scraper and each V-groove form a space for accommodating the conveyed material. This space is larger than the space required to accommodate material with a thickness of H+B and smaller than the space required to accommodate material with a thickness of 2×(HB).

[0055] The top of the inspection frame is provided with a guide rail groove extending in the front-to-back direction. The guide rail groove is located at the middle position of each transparent plate in the left-to-right direction. Each transparent plate has a positioning wheel connected to the guide rail groove at the middle position in the left-to-right direction. The positioning wheel of the transparent plate that moves to the top of the inspection frame under the drive of the left chain mechanism and the right chain mechanism rolls along the guide rail groove and is supported by the guide rail groove. There are two positioning wheels on the transparent plate at intervals in front and behind the guide rail groove.

[0056] The transverse conveying mechanism includes a transverse frame that spans across the discharge frame in the left-right direction. A transverse trough is provided at the top of the transverse frame. A transverse belt drive mechanism is provided inside the transverse trough. The transverse belt conveying mechanism has a transverse belt and a transverse drive motor for driving the transverse belt. The transverse drive motor is installed on the side wall of the transverse trough. At the end of the transverse belt, the bottom of the transverse trough is inclined downward and connected to a drop plate. The lower end of the drop plate is located above the waste collection box.

[0057] Each of the V-shaped grooves, material transfer grooves, longitudinal grooves and feeding grooves corresponds to one another and forms a set of feeding troughs; the feeding troughs are provided with two or more sets spaced apart on the left and right sides;

[0058] Between the V-shaped grooves of two adjacent sets of feeding troughs, there is a dividing triangular prism with the tip pointing upwards. The top edge of the dividing triangular prism has a rounded chamfer. The dividing triangular prism extends forward from the rear end of the vibrating feeder to the scraper plate.

[0059] A partition strip with the same width as the dividing triangular prism is provided between the longitudinal grooves of two adjacent sets of feeding troughs;

[0060] The left and right ends of the middle of the lower surface of the lifting frame are connected to the lower support shafts via the lower mounting bases. Support wheels are installed on the lower support shafts in a one-to-one correspondence with the partition belts. The support wheels support the lower surface of the lifting belt at the partition belts. At least one set of the lower support shaft and its support wheels is provided.

[0061] The upper shooting device includes an upper box mounted on the top of the detection frame, and an upper camera and an upper light are installed inside the upper box. The shooting direction of the upper camera is vertically downward.

[0062] The lower shooting device includes a lower housing mounted on the top of the inspection frame, and a lower camera and a lower light are installed inside the lower housing. The shooting direction of the lower camera is vertically upward.

[0063] The transparent plate's trajectory at the top of the inspection frame is located between the upper and lower imaging devices;

[0064] The feeding guide structure includes a feeding plate for receiving filling materials falling from the transparent plate. The left and right ends of the feeding plate are fixedly connected to the left and right ends of the detection frame through feeding connecting plates. Several feeding guide plates are provided on the feeding plate in correspondence with the left and right partitions. The feeding guide plates are located at the front end of the detection frame and are lower than the top of the upper corner support sprocket. Adjacent feeding guide plates form a feeding trough, and each feeding trough forms a feeding trough group.

[0065] Each feed chute has a corresponding receiving chute at its rear end, which is inclined upwards. The receiving chute is used to receive filling materials from the upstream process. The receiving chute is wider at the rear and narrower at the front.

[0066] Each left and right partition plate is installed on the lifting frame by a partition fixing structure, and at least two sets of partition fixing structures are provided at intervals along the lifting direction of the lifting belt;

[0067] The partition fixing structure includes a lifting fixing beam extending in the left and right direction. Each left and right partition plate has a lifting suspension plate protruding upwards corresponding to the lifting fixing beam. The lifting fixing beam passes through the lifting suspension plate of each left and right partition plate in the left and right direction. The upper surface of the lifting fixing beam has multiple grooves corresponding to each left and right partition plate. The lifting suspension plate is inserted downwards into the corresponding groove. The left and right ends of the lifting fixing beam are fixedly connected to the left and right ends of the upper surface of the lifting frame through upper mounting seats.

[0068] The upper and lower shooting devices are staggered front to back;

[0069] A lower black background plate is provided on the inspection frame below the running track at the top of the inspection frame, and an upper black background plate is provided on the inspection frame above the running track at the top of the inspection frame; the lower black background plate is located below the upper shooting device, and the upper black background plate is located above the lower shooting device.

[0070] The shooting guide structure includes several left and right partitions set on the top of the detection frame. The left and right partitions extend in the front-back direction. The bottom of the left and right partitions is higher than the transparent plate on the top of the detection frame and adjacent to the transparent plate on the top of the detection frame. The adjacent left and right partitions form a guide channel, and each guide channel forms a guide channel group. The filling material carried on the transparent plate passes through the shooting area and enters the feeding guide structure under the restriction of the guide channel.

[0071] Each transparent plate has front and rear partitions at the corresponding flow channels. The front and rear partitions that move to the top of the testing frame are located in the flow channels and their two ends are adjacent to the corresponding left and right partitions. The front and rear partitions at the front and rear of the transparent plate and the left and right partitions on both sides form a material conveying channel.

[0072] The left and right partitions are fixed to the top of the testing frame by a crossbeam structure;

[0073] The crossbeam structure includes a crossbeam, with the left and right ends of the crossbeam mounted on the left and right ends of the testing frame via crossbeam mounting bases, respectively; each left and right partition is provided with a crossbeam suspension plate protruding upwards, and the crossbeam passes through each crossbeam suspension plate in the left and right direction; the upper surface of the crossbeam is provided with multiple positioning grooves corresponding to each left and right partition, and the crossbeam suspension plate is embedded downwards into the corresponding positioning groove to limit the left and right positions of the left and right partitions.

[0074] A set of crossbeam structures is installed in front of and behind the shooting area.

[0075] The upper corner support sprocket and the lower corner support sprocket have the same radius, R. The front and rear width of the transparent plate is L, and R / L is greater than or equal to 1 and less than or equal to 2.

[0076] The bottom of the frame is provided with a front pull-out groove and a rear pull-out groove at intervals below the left chain mechanism and the right chain mechanism. The front pull-out groove is provided with a strip-shaped brush for cleaning the transparent plate, and the rear pull-out groove is provided with a sponge strip for cleaning the transparent plate. When the transparent plate passes over the strip-shaped brush and the sponge strip, the transparent plate presses down against the top of the strip-shaped brush and the sponge strip and the top of the transparent plate.

[0077] This invention also discloses a sorting method using the above-mentioned visual sorting system for fillings. The electrical control device is connected to a vibration motor, a lifting motor, a chain drive motor, an upper light, a lower light, an upper camera, a lower camera, an inclined discharge motor, a horizontal discharge motor, a guide drive motor, and a transverse drive motor. The feeding trough of the vibrating discharge and feeding mechanism corresponds one-to-one with the guide trough of the visual inspection mechanism for frozen fillings. The unloading trough of the visual inspection mechanism for frozen fillings corresponds one-to-one with the receiving trough of the diversion and discharge mechanism. Both the upper and lower cameras are black and white cameras.

[0078] The sorting method of the present invention is carried out according to the following steps:

[0079] The first step is the startup process;

[0080] The vibration motor, lifting motor, chain drive motor, upper lighting, lower lighting, upper camera, lower camera, tilting discharge motor, horizontal discharge motor, guide drive motor and lateral drive motor are started by the electronic control device, so that all parts of the visual sorting system for filling materials start to operate.

[0081] The second step is continuous feeding, continuous testing, and continuous sorting.

[0082] Continuous feeding is:

[0083] The filling material is poured from the rear end of the vibrating feeder into each V-shaped groove by manual labor or mechanical means. Under the action of vibration, the filling material is dispersed and evenly distributed in each V-shaped groove and conveyed forward.

[0084] The filling material falls from the front end of the V-shaped trough, enters the corresponding longitudinal trough through the transfer baffle, and falls into the moving lifting trough within the range of the longitudinal trough;

[0085] Under the action of the surface friction of the lifting belt and the pushing action of the front and rear partition plates that make up the moving material lifting trough, the filling material is lifted upward along the lifting belt and falls precisely into the feeding end of the corresponding frozen filling material visual inspection mechanism through the feeding trough with a constricted bottom structure; the rear end of each guide trough serves as the feeding end of the frozen filling material visual inspection mechanism.

[0086] Continuous monitoring is:

[0087] After the filling materials enter each guide channel, they are supported by the transparent plate and pass through the shooting area with the transparent plate;

[0088] When the filling material passes under the upper camera, the upper camera captures a grayscale image of the upper half of the filling material.

[0089] When the filling material passes above the lower camera, the lower camera captures a grayscale image of the lower half of the filling material.

[0090] The upper and lower black background panels ensure that the grayscale images captured by the upper and lower cameras both have a black background;

[0091] After obtaining grayscale images of the upper and lower halves of the filling material, the electronic control device identifies whether the filling material is a good or defective product according to the following algorithm:

[0092] 1. The electronic control device extracts closed contour lines in the image using a contour extraction algorithm and calculates the number of pixels (SXS) in the area enclosed by each closed contour line.

[0093] For specific filling materials, the staff pre-determines the minimum number of pixels (MINSX value) and stores it in the electronic control device;

[0094] For the region enclosed by the closed contour line where SXS≤MINSX in the image, the electronic control device determines that it is not a filling material; for the region enclosed by the closed contour line where SXS>MINSX in the image, the electronic control device determines that it is a filling material.

[0095] 2. For the area enclosed by the closed contour line where SXS > MINSX in the image, if there are other closed contour lines inside it (exposed filling will form a smaller contour line, such as the exposed filling inside and outside the dumpling contour line forming an even smaller contour line), the electronic control device judges the material as a defective filling material.

[0096] 3. For the region enclosed by the closed contour line of SXS > MINSX in the image, if there are no other closed contour lines inside, the electronic control device calculates the average gray value of all pixels within the closed contour line range of each filling material identified in the image.

[0097] For specific filling materials, staff pre-calibrate the standard average gray value PJBB and store it in the electronic control device;

[0098] When the average gray value SUMPJ within the closed outline of a filling material is greater than or equal to PJBB, the electronic control device determines that the filling material is a defect-free filling material.

[0099] The electronic control device controls the operating status of the pusher of the diversion discharge mechanism based on the running speed of the circulating drive mechanism and the distance between the camera point and the receiving trough of the diversion discharge mechanism, so that when the corresponding filling material arrives at the receiving trough of the diversion discharge mechanism, the receiving trough is raised and in a non-receiving state.

[0100] When the average gray value SUMPJ < PJBB within the closed outline of a filling material, the electronic control device determines that the filling material is defective.

[0101] The electronic control device controls the operating status of the pusher of the diversion discharge mechanism based on the running speed of the cyclic drive mechanism and the distance between the camera point and the receiving trough of the diversion discharge mechanism, so that when the corresponding filling material arrives at the receiving trough of the diversion discharge mechanism, the receiving trough is lowered and in the receiving state.

[0102] The diversion and discharge mechanism controls the operation of each pushing device based on the average gray value within the closed contour line range of each filling material obtained by image recognition. This allows the inclined belt to continuously receive defect-free filling materials and send them to the downstream process via the horizontal belt. Meanwhile, the receiving trough of the diversion and discharge mechanism continuously receives defective filling materials and finally guides them into the waste collection box.

[0103] Continue with the second step until all filling materials are sorted.

[0104] The third step is the final step, which involves shutting down the vibration motor, lifting motor, chain drive motor, upper lighting, lower lighting, upper camera, lower camera, tilting discharge motor, horizontal discharge motor, guide drive motor, and lateral drive motor, thus ending the visual recognition and automatic sorting process.

[0105] In this invention, the vibratory feeding is the upstream process of the visual inspection mechanism, and the visual inspection is the upstream process of the diversion and discharge mechanism.

[0106] The present invention has the following advantages:

[0107] This invention uses a vibrating feeding device to disperse materials, preventing material accumulation and allowing materials to move orderly along a V-shaped groove. The material is then supplied to a visual inspection mechanism via an inclined lifting device, providing the basic conditions for orderly material supply for intelligent visual inspection that does not rely on manual inspection.

[0108] If a partition extending in the front-to-back direction is installed on the lifting belt, the partition is very susceptible to damage from stress when it passes over the upper front roller or the lower rear roller. This is because when the lifting belt is not turning, the bottom surface of the partition extending in the front-to-back direction is required to be a straight line extending in the direction of belt movement, while when the lifting belt turns, the bottom surface of the partition extending in the front-to-back direction is required to be a curve extending in the direction of belt movement. Therefore, in the prior art, it is not possible to install left and right partitions along the belt rotation direction.

[0109] In the structure of the movable feeding chute, the left and right partition plates are fixed and do not rotate with the lifting belt; the front and rear partition plates are movable and rotate with the lifting belt. This structure avoids the problem of the bottom surface of the front and rear extended partition plates being damaged during the belt rotation. It cleverly forms a movable feeding chute on the upper surface of the lifting belt, which can separate and push various filling materials upward, preventing materials from accumulating on the lifting belt and avoiding the problems of uneven distribution of materials on the lifting belt and some materials accumulating at the bottom of the lifting belt.

[0110] The lower guide device compensates for the gap between the V-shaped groove and the longitudinal groove, allowing the filling material to fall more smoothly from the V-shaped groove into the corresponding longitudinal groove.

[0111] The upper guide device compensates for the gap between the longitudinal groove and the feeding end of the vision inspection mechanism, allowing filling materials to fall more smoothly from the longitudinal groove (moving feeding groove) into the feeding end of the vision inspection mechanism.

[0112] The feeding end of the vision inspection mechanism corresponds one-to-one with the feeding trough; the adjacent upper guide plate and upper baffle form a feeding trough with a narrow bottom structure, so that the filling material can fall more accurately into the feeding end of the vision inspection mechanism corresponding to the feeding trough.

[0113] The scraper and each V-groove form a space to accommodate the conveyed material. This space is larger than the space required to accommodate material with a thickness of H+B but smaller than the space required to accommodate material with a thickness of 2×(HB). This ensures that the material conveyed along the V-groove does not stack as it passes through the V-groove at the scraper, while also guaranteeing that the largest possible material (with a thickness of H+B) can pass through the V-groove at the scraper. Of course, if the material passes through the V-groove vertically, it will be scraped down by the scraper, thus ensuring that each piece of material passes through the V-groove in a flat position.

[0114] In summary, the scraper can prevent filling materials from stacking as they pass through the V-shaped groove, and also ensure that each filling material passes through the V-shaped groove in a flat position, thus arranging the materials more orderly.

[0115] The top edge of the dividing triangular prism has a rounded chamfer to prevent the filling material from being cut during feeding.

[0116] The feeding trough assembly is provided with two or more sets spaced apart on the left and right sides, which helps to increase the lateral width of the invention and improve its conveying capacity. The lower support shaft and lower support wheel can support the lifting belt while the moving feeding trough lifts the material.

[0117] The lifting suspension plate is embedded downward into the corresponding groove to prevent the left and right partition plates from moving in the left and right direction. By suspending and embedding, each left and right partition plate is fixed above the upper surface of the lifting belt and adjacent to the upper surface of the lifting belt. The structure is simple, the effect is reliable, and it is easy to manufacture and install.

[0118] This invention features an ingenious structure. A transparent plate carries the filling material, allowing both the upper and lower imaging devices to capture it. An imaging guide structure guides the filling material through the imaging area in an orderly manner. A circulating drive mechanism causes the transparent plate to circulate through the imaging area. A discharge guide structure allows the filling material to flow out of the frozen filling material visual inspection mechanism, thus providing the equipment foundation for visual inspection.

[0119] The transmission shaft simultaneously drives the left and right chain mechanisms to rotate, ensuring the synchronicity of their movements and the uniformity of their force distribution.

[0120] The installation of suspension shafts and suspension rods can enhance the installation strength of the drive shaft, enabling it to achieve better stress stability under the same material conditions. This prevents deformation of the drive shaft due to gear meshing and ensures long-term stable operation of the transmission system.

[0121] The transparent plate connection structure enables the chains of the left and right chain mechanisms to drive the transparent plates to rotate together without interfering with the operation of the chain itself.

[0122] The positioning wheel of the transparent plate, which runs to the top of the inspection frame, rolls along the guide rail groove and is supported by the guide rail groove. This can counteract the effects of the chain elasticity and the elasticity of the transparent plate, so that the transparent plate can be better kept horizontal at the top of the inspection frame.

[0123] The upper and lower shooting devices are staggered and take pictures one after the other. The images are obtained from the upper and lower black background boards to form a pure black background image, which provides a good image for easy recognition in the later image recognition process.

[0124] The shooting guide structure separates the filling materials into individual conveying troughs. Not only do the left and right partitions ensure that the filling materials pass through the shooting area in an orderly manner, but the conveying troughs also form a very obvious grid-like background in the captured images.

[0125] The crossbeam suspension plate is inserted downward into the corresponding positioning groove to limit the left and right positions of the left and right partition plates, prevent the left and right partition plates from moving left and right along the crossbeam, and thus fix the position of each guide channel.

[0126] A set of crossbeams is installed in front of and behind the shooting area, making the overall structure of the guide channel more balanced and stable.

[0127] The filling material moves forward with the transparent plate to the upper corner support sprocket at the front end of the detection frame. The transparent plate then turns downward with the chain mechanism and runs in a cycle. At this time, the filling material falls forward and downward under the action of inertia, landing on the feeding plate and flowing out of the invention in an orderly manner along the feeding plate guide structure.

[0128] As the transparent plate passes over the strip brush and sponge strip, it presses against the top of the brush and sponge strip and the top of the transparent plate itself, thus cleaning the lower surface of the transparent plate (mainly removing traces of filling material). When the transparent plate reaches the top of the inspection frame, the cleaned surface becomes the upper surface of the transparent plate and is used to hold the filling material. Because the transparent plate is cleaned in each operating cycle, interference from traces of filling material (especially leftover filling from broken fillings) is avoided, resulting in an accurate image of the filling material.

[0129] If the R / L value is less than 0.5, the transparent plate 45 cannot bend properly at the corner support sprocket and will be damaged due to structural interference; if the R / L value is too large, it will occupy too much space and be unsightly. The preferred R / L value is 1-2, which takes into account the passability of the transparent plate 45 at the corner support sprocket, occupies less space, and is also relatively more aesthetically pleasing.

[0130] This invention uses an inclined diversion conveyor to intercept defective filling materials, allowing defect-free filling materials to flow to downstream processes along the defect-free filling material outflow mechanism, while defective filling materials are sent to a waste collection box along the inclined diversion conveyor, thus conveniently realizing the diversion and conveying of filling materials.

[0131] In the inclined diversion conveying mechanism, each pushing device can operate independently, causing each guide trough to rotate around the hinge point between the rear hinge seat and the rear rotating plate. This gives each guide trough a receiving position for receiving materials from the upstream process and a discharging position for not receiving materials from the upstream process, thus providing a basis for diverting defective filling materials.

[0132] The guide belt conveyor mechanism can prevent the material from falling smoothly due to insufficient inclination of the guide chute, and ensure that the material falls smoothly into the transverse conveyor mechanism.

[0133] During continuous operation, the transverse conveyor belt can continuously transport defective filling materials that fall onto it to the waste collection box. The receiving chute is wide at the back for easy material receiving; it is narrow at the front for easy guidance of filling materials into the feed chute. Attached Figure Description

[0134] Figure 1 This is a schematic diagram of the structure of the present invention;

[0135] Figure 2 This is a schematic diagram of the structure of the vibrating discharge and feeding mechanism of the present invention;

[0136] Figure 3 yes Figure 1 The right view;

[0137] Figure 4 yes Figure 1 The left view;

[0138] Figure 5 yes Figure 4 Enlarged view of point A in the middle;

[0139] Figure 6 This is a three-dimensional structural schematic diagram of the vibrating discharge and feeding mechanism of the present invention;

[0140] Figure 7 yes Figure 6 Enlarged view of point B in the middle;

[0141] Figure 8A three-dimensional structural schematic diagram of the vibrating discharge and feeding mechanism of the present invention from another angle;

[0142] Figure 9 yes Figure 8 Enlarged view of point C in the middle;

[0143] Figure 10 yes Figure 8 Enlarged view at point D;

[0144] Figure 11 This is a schematic diagram of the structure of the visual inspection mechanism for frozen fillings of the present invention;

[0145] Figure 12 This is a three-dimensional structural diagram of a visual inspection mechanism for frozen fillings;

[0146] Figure 13 yes Figure 12 Enlarged view at point E in the middle;

[0147] Figure 14 This is a three-dimensional structural diagram of a visual inspection mechanism for frozen fillings from another angle.

[0148] Figure 15 yes Figure 14 Enlarged view at point F;

[0149] Figure 16 This is a three-dimensional structural diagram of a visual inspection mechanism for frozen fillings, viewed from below.

[0150] Figure 17 yes Figure 16 Enlarged view of point G in the middle;

[0151] Figure 18 This is a schematic diagram of the diversion and discharge mechanism of the present invention;

[0152] Figure 19 yes Figure 18 Enlarged view of section H in the middle;

[0153] Figure 20 yes Figure 18 Top view;

[0154] Figure 21 This is a three-dimensional structural diagram of the diversion and discharge mechanism;

[0155] Figure 22 This is a three-dimensional structural diagram of the diversion and discharge mechanism from another angle. Detailed Implementation

[0156] like Figures 1 to 22As shown, the visual sorting system for fillings of the present invention includes a vibrating feeding mechanism, a frozen filling visual inspection mechanism, a diversion and discharge mechanism, and an electrical control device. The electrical control device is connected to the vibrating feeding mechanism, the frozen filling visual inspection mechanism, and the diversion and discharge mechanism. The vibrating feeding mechanism is used to orderly feed the frozen filling visual inspection mechanism; the frozen filling visual inspection mechanism is used to visually identify the fillings; and the diversion and discharge mechanism is used to sort out defective fillings and supply defect-free fillings to subsequent processes. The electrical control device is a PLC or industrial control computer and is connected to a display. The use of a display for the electrical control device is conventional technology and is not shown in the figure.

[0157] like Figures 1 to 10 As shown, the vibrating feeding mechanism of the present invention includes a vibrating feeding device and an inclined lifting device. The inclined lifting device is used to lift the material falling from the vibrating feeding device and supply it to the vision inspection mechanism.

[0158] The vibrating feeder is used to disperse materials and arrange them in an orderly manner along the V-shaped groove. The vibrating feeder includes a feeder frame 1, which is connected to a vibrating feeder frame 2 via a support spring 31. A vibrating motor 3 is installed on the vibrating feeder frame 2. The vibrating motor 3 generates vibration by means of an eccentric wheel installed on its motor shaft. This is existing technology and will not be described in detail.

[0159] With the material movement direction as forward, multiple V-shaped grooves 4 are evenly arranged side by side inside the vibrating feeder 2. The top of each V-shaped groove 4 is flush with the top of the vibrating feeder 2, the rear end of each V-shaped groove 4 is connected to the rear baffle 5 of the vibrating feeder 2, and the front end of each V-shaped groove 4 extends forward out of the vibrating feeder 2 and serves as the material dropping end of the V-shaped groove 4. The material dropping end of each V-shaped groove 4 serves as the material dropping end of the vibrating feeder. The vibrating feeder 2 and each V-shaped groove 4 are inclined with the rear higher than the front, so that the material moves forward along the V-shaped groove 4 under the vibration action of the vibrating motor 3. The V-shaped groove 4 is used to accommodate the conveyed material and to convey the material forward along the V-shaped groove 4 under the vibration action.

[0160] This invention uses a vibrating feeding device to disperse materials, preventing material accumulation and allowing materials to move orderly along the V-shaped groove 4. The material is then supplied to the visual inspection mechanism via an inclined lifting device, providing the basic conditions for orderly material supply for intelligent visual inspection that does not rely on manual inspection.

[0161] The tilting lifting device includes a lifting frame 6, which extends forward and upward from below the dropping end of the vibrating feeder to the feeding end of the vision inspection mechanism.

[0162] The lifting frame 6 is equipped with a belt conveyor mechanism, which includes a front upper roller, a rear lower roller, and a lifting belt 7 wound between the front upper roller and the rear lower roller. The central shaft of the front upper roller or the rear lower roller is connected to the output shaft of the lifting motor 8, which is mounted on the lifting frame 6. The front upper roller and the rear lower roller are both obscured by the lifting belt 7 in the attached drawings and are not shown. The belt conveyor mechanism is a conventional technology and will not be described in detail.

[0163] Inside the lifting frame 6, above the lifting belt 7 and along the direction of the lifting belt 7's rotation, there are left and right partition plates 9, and multiple left and right partition plates 9 are evenly spaced along the left and right direction; two adjacent left and right partition plates 9 form a longitudinal groove above the lifting belt 7, and the longitudinal groove corresponds one-to-one with the V-shaped groove 4; front and rear partition plates 10 are provided on the surface of the lifting belt 7 at the positions corresponding to each longitudinal groove, and the front and rear partition plates 10 that rotate to the upper surface (i.e., the upper half) of the lifting belt 7 are located in the longitudinal groove and their two ends are adjacent to the corresponding left and right partition plates 9 (e.g., spaced 0.3±0.1 mm apart to prevent filling materials from passing through the gaps); multiple front and rear partition plates 10 corresponding to each longitudinal groove are evenly spaced along the circumferential direction of the lifting belt 7; two adjacent front and rear partition plates 10 in the longitudinal groove and the left and right partition plates 9 on their left and right sides form a movable material lifting trough 11.

[0164] If a partition extending in the front-to-back direction is provided on the lifting belt 7, the partition is very susceptible to damage from stress when it passes over the upper front roller or the lower rear roller as the lifting belt 7 moves. This is because when the lifting belt 7 is not turning, the bottom surface of the partition extending in the front-to-back direction is required to be a straight line extending in the direction of movement of the lifting belt 7, while when the lifting belt 7 turns, the bottom surface of the partition extending in the front-to-back direction is required to be a curve extending in the direction of movement of the lifting belt 7. Therefore, in the prior art, it is not possible to provide left and right partitions 9 along the belt rotation direction.

[0165] In the structure of the movable feeding trough 11, the left and right partition plates 9 are fixed structures and do not rotate with the lifting belt 7; the front and rear partition plates 10 are movable structures and rotate with the lifting belt 7. This structure avoids the problem of the bottom surface of the front and rear extended partition plates being damaged during the belt rotation. The movable feeding trough 11 is cleverly formed on the upper surface of the lifting belt 7. It can separate and push various filling materials upward through the movable feeding trough 11, preventing materials from accumulating on the lifting belt 7 and avoiding the problem of uneven distribution of materials on the lifting belt 7 and some materials accumulating at the bottom of the lifting belt 7.

[0166] The bottom of the lifting frame 6 is provided with a lower guide device, which includes a lower baffle 12. The left and right ends of the lower baffle 12 are fixedly connected to the left and right ends of the lifting frame 6 through a lower connecting plate 13. A plurality of lower guide plates 14 are provided on the lower baffle 12 in correspondence with the left and right partition plates 9. The bottom end of the lower guide plate 14 is adjacent to the bottom end of the corresponding left and right partition plates 9, and the top end of the lower guide plate 14 extends upward to the corresponding V-shaped groove 4. The adjacent lower guide plates 14 and the lower baffle 12 therebetween form a material transfer groove 15 that corresponds to both the V-shaped groove 4 and the longitudinal groove.

[0167] The lower guide device compensates for the gap between the V-groove 4 and the longitudinal groove, allowing the filling material to fall more smoothly from the V-groove 4 into the corresponding longitudinal groove.

[0168] The top of the lifting frame 6 is provided with an upper guide device, which includes an upper baffle 16. The left and right ends of the upper baffle 16 are fixedly connected to the left and right ends of the lifting frame 6 through an upper connecting plate 17. Several upper guide plates 18 are provided on the upper baffle 16 in correspondence with the left and right partition plates 9. The bottom end of the upper guide plate 18 is downward and adjacent to the feeding end of the vision inspection mechanism.

[0169] The upper guide device compensates for the gap between the longitudinal groove and the feeding end of the vision inspection mechanism, so that the filling material can fall more smoothly from the longitudinal groove (movable feeding groove 11) into the feeding end of the vision inspection mechanism.

[0170] The lower ends of each upper guide plate 18 are all left and right forked structures 19, so that each upper guide plate 18 is a Y-shaped opening at the bottom, and the adjacent upper guide plates 18 and upper baffles 16 form a feeding trough with a narrow opening at the bottom (i.e. the discharge end).

[0171] The feeding end of the vision inspection mechanism corresponds one-to-one with the feeding trough; the adjacent upper guide plate 18 and upper baffle 16 form a feeding trough with a narrow bottom structure, so that the filling material can fall more accurately into the feeding end of the vision inspection mechanism corresponding to the feeding trough.

[0172] The front of the vibrating feeder 2 is connected upward to a scraper 20 that is inclined with a lower rear and a higher front. The left end of the scraper 20 is connected to the top of the left end of the feeder frame 1 through a left turn plate 21, and the right end of the scraper 20 is connected to the top of the right end of the feeder frame 1 through a right turn plate 22. The bottom end of the scraper 20 is adjacent to and higher than the top of each V-groove 4.

[0173] The standard thickness of the conveyed material is H, the maximum thickness error of the conveyed material is B, and the thickness of each conveyed material is less than H+B and greater than HB.

[0174] The scraper 20 and each V-groove 4 form a space for accommodating the conveyed material. This space is larger than the space required to accommodate material with a thickness of H+B and smaller than the space required to accommodate material with a thickness of 2×(HB).

[0175] The scraper 20 and each V-groove 4 form a space for accommodating the conveyed material. This space is larger than the space required to accommodate material with a thickness of H+B but smaller than the space required to accommodate material with a thickness of 2×(HB). This ensures that the material conveyed along the V-groove 4 does not stack up as it passes through the V-groove 4 at the scraper 20, while also ensuring that the largest possible material (with a thickness of H+B) can pass through the V-groove 4 at the scraper. Of course, if the material passes through the V-groove 4 vertically, it will be scraped down by the scraper 20, thus ensuring that each piece of material passes through the V-groove 4 in a flat position.

[0176] In summary, the scraper 20 can prevent filling materials from stacking as they pass through the V-groove 4, and also ensure that each filling material passes through the V-groove 4 in a flat position, thus arranging the materials more orderly.

[0177] Each of the V-shaped grooves 4, the material transfer grooves 15, the longitudinal grooves and the feeding grooves are one-to-one correspondences and form a set of feeding troughs; the feeding troughs are provided with two or more sets spaced apart on the left and right sides.

[0178] Between the V-shaped grooves 4 of two adjacent sets of feeding troughs, there is a dividing triangular prism 23 with the tip pointing upwards. The top edge of the dividing triangular prism 23 is provided with a rounded chamfer (to prevent the filling material from being cut during feeding); the dividing triangular prism 23 extends forward from the rear end of the vibrating feeder 2 to the scraper plate 20;

[0179] A partition strip 24 with the same width as the partition triangular prism 23 is provided between the longitudinal grooves of two adjacent sets of feeding troughs. The lifting belt 7 corresponding to the partition strip 24 is not provided with front and rear partition plates 10.

[0180] The lower support shaft 25 is connected to the left and right ends of the middle of the lower surface of the lifting frame 6 via the lower mounting base 26. Support wheels 27 are installed on the lower support shaft 25 in a one-to-one correspondence with the partition belt 24 (only one partition belt 24 and one support wheel 27 are provided in the attached figure). The support wheels 27 support the lower surface of the lifting belt 7 at the partition belt 24. At least one set of the lower support shaft 25 and its support wheels 27 is provided.

[0181] The feeding trough assembly is provided with two or more sets spaced apart on the left and right sides, which helps to increase the left and right width of the invention and improve its conveying capacity. The lower support shaft 25 and the lower support wheel 27 can support the lifting belt 7 while the moving lifting trough 11 lifts the material.

[0182] Each left and right partition plate 9 is installed on the lifting frame 6 through a partition fixing structure. At least two sets of partition fixing structures are provided at intervals along the lifting direction of the lifting belt 7.

[0183] The partition fixing structure includes a lifting fixing beam 28 extending in the left and right direction. Each left and right partition plate 9 has a lifting suspension piece 29 protruding upwards corresponding to the lifting fixing beam 28. The lifting fixing beam 28 passes through the lifting suspension piece 29 of each left and right partition plate 9 in the left and right direction. The upper surface of the lifting fixing beam 28 has multiple grooves corresponding to each left and right partition plate 9. The lifting suspension piece 29 is inserted downwards into the corresponding groove. The left and right ends of the lifting fixing beam 28 are respectively fixedly connected to the left and right ends of the upper surface of the lifting frame 6 through the upper mounting base 30.

[0184] The lifting suspension plate 29 is embedded downward into the corresponding groove to prevent the left and right partition plates 9 from moving in the left and right direction. By suspending and embedding, each left and right partition plate 9 is fixed above the upper surface of the lifting belt 7 and adjacent to the upper surface of the lifting belt 7. The structure is simple, the effect is reliable, and it is easy to manufacture and install.

[0185] In operation, the vibration motor 3 and the lifting motor 8 are turned on, and the filling material is poured from the rear end of the vibrating feeder into each V-groove 4. Under the action of vibration, the filling material is quickly dispersed and relatively evenly distributed in each V-groove 4. Since each V-groove 4 is higher at the back and lower at the front, the filling material continuously moves forward under the action of vibration. When passing through the scraper 20, the V-groove 4 without overlapping passes smoothly through the scraper 20; the upper part of the overlapping filling material is blocked by the scraper 20, thus separating the overlapping filling material and dispersing it under the action of vibration. At all V-grooves 4, the filling material is continuously dispersed and evenly distributed due to the action of vibration, so that the filling material is evenly distributed when it reaches the front end of the V-groove 4.

[0186] The filling material falls from the front end of the V-shaped groove 4, enters the corresponding longitudinal groove through the transfer baffle 15, and falls into the specific moving material lifting groove 11 within the range of the longitudinal groove.

[0187] Under the action of the surface friction of the lifting belt 7 and the pushing action of the front and rear partition plates 10 that make up the moving material lifting trough 11, the filling material is lifted upward along the lifting belt 7 and accurately falls to the feeding end of the corresponding visual inspection mechanism through the feeding trough with a constricted bottom structure. This completes the task of vibrating and arranging the filling material in an orderly manner and lifting the filling material, providing material for the orderly supply of intelligent visual inspection that does not rely on manual inspection.

[0188] like Figure 1 as well as Figures 11 to 17As shown, the visual inspection mechanism for frozen fillings in this invention includes an inspection frame 32, on which a circulating drive mechanism is provided. The circulating drive mechanism is used to drive a transparent plate 45 to circulate through the shooting area, which is located at the middle position of the top front-back direction of the inspection frame 32. The transparent plate 45 can be made of transparent glass or other transparent materials, such as plastic.

[0189] Above the shooting area is an upper shooting device for shooting fillings from top to bottom, and below the shooting area is a lower shooting device for shooting fillings from bottom to top.

[0190] With the material movement direction as the forward direction, the top of the detection frame 32 is equipped with a shooting guide structure to allow filling materials to pass through the shooting area in an orderly manner;

[0191] The top of the inspection frame 32 behind the shooting area is connected to a feeding guide structure for receiving filling materials falling from the front of the shooting guide structure. The feeding guide structure directs the filling materials to the next process, namely the diversion and discharge mechanism.

[0192] This invention features an ingenious structure. The transparent plate 45 carries the filling material, allowing both the upper and lower imaging devices to capture it. The imaging guide structure guides the filling material through the imaging area in an orderly manner. The circulating drive mechanism causes the transparent plate 45 to circulate through the imaging area. The material discharge guide structure allows the filling material to flow out of the frozen filling material visual inspection mechanism, thus providing the equipment foundation for visual inspection.

[0193] The top of the frame is flat, and the cyclic drive mechanism includes a left chain mechanism, a right chain mechanism, a drive shaft 37, a driven gear 38, a chain drive motor 40, and a drive gear 39;

[0194] The left chain mechanism and the right chain mechanism have the same structure. The left chain mechanism is located at the left end of the detection frame 32, and the right chain mechanism is located at the right end of the detection frame 32.

[0195] The left chain mechanism and the right chain mechanism are collectively referred to as a one-sided chain mechanism;

[0196] One side of the chain mechanism includes a chain 41 and four corner support sprockets. The four corner support sprockets include two upper corner support sprockets 42 and two lower corner support sprockets 43. The attached figure is a schematic diagram of the structure and does not show the meshing state between the corner support sprockets and the chain 41, or the meshing state between the driven gear 38 and the driving gear 39.

[0197] Two upper corner support sprockets 42 are respectively installed at the top rear end and top front end of the testing frame 32, and two lower corner support sprockets 43 are located in the middle or bottom of the testing frame 32 and are located directly below the two upper corner support sprockets 42.

[0198] The chain 41 of the chain mechanism on one side passes around each corner support sprocket and is driven by each corner support sprocket;

[0199] The drive shaft 37 is connected between the two lower corner support sprockets 43 at the rear end or between the two lower corner support sprockets 43 at the front end in the left and right chain mechanisms. The left and right ends of the drive shaft 37 are mounted on the testing frame 32 by bearings.

[0200] The driven gear 38 is installed in the middle of the drive shaft 37. A motor mounting bracket 44 is provided on the adjacent frame of the drive shaft 37. The chain drive motor 40 is fixedly connected to the motor mounting bracket 44. The driving gear 39 is installed on the output shaft of the chain drive motor 40. The driving gear 39 meshes with the driven gear 38. The chain drive motor 40 is a servo motor.

[0201] The transparent plate 45 is connected between the chain 41 of the left chain mechanism and the chain 41 of the right chain mechanism. Multiple transparent plates 45 are evenly spaced along the circumferential direction of the chain 41. The gap between adjacent transparent plates 45 is 10±3 mm, preferably 10±1 mm. The gap between the transparent plates 45 ensures that the filling material will not fall out.

[0202] The transmission shaft 37 simultaneously drives the left and right chain mechanisms to rotate, ensuring the synchronicity of their movements and the uniformity of their force distribution.

[0203] A suspension shaft 46 is fixedly connected to the frame directly above the drive shaft 37. Two suspension rods 47 are fixedly connected downward to the suspension shaft 46. The bottom end of the suspension rods 47 is equipped with a bearing or sleeve as indicated by the attached reference numeral 48. The drive shaft 37 passes through the bearing or sleeve at the bottom end of the suspension rods 47.

[0204] The suspension shaft 46 and suspension rod 47, etc., can enhance the installation strength of the transmission shaft 37, enabling the transmission shaft 37 to achieve better stress stability under the same material, avoiding deformation of the transmission shaft 37 due to gear meshing transmission stress, and ensuring long-term stable operation of the transmission system.

[0205] The transparent plate 45 is connected between the chain 41 of the left chain mechanism and the chain 41 of the right chain mechanism through a transparent plate connection structure;

[0206] The transparent panel connection structure is:

[0207] The chain 41 includes inner links and outer links, which are alternately connected to form the chain 41. The inner links include two inner links 49, and the outer links include two outer links 50. A pin 51 (usually the pin of the chain is provided with a sleeve) connects the two outer links 50 and the two inner links 49. A connecting rod connecting part 52 is provided in the middle of the two inner links 49. A connecting rod 53 is fixedly passed through the connecting rod connecting part 52 of the two inner links 49. The connecting rod 53 extends inward (inward means in the direction of the middle of the left and right direction of the detection frame) and is connected to a transparent plate 45.

[0208] The transparent plate connection structure enables the chains 41 of the left chain mechanism and the right chain mechanism to drive the transparent plates 45 to rotate together in a cycle without interfering with the operation of the chain 41 itself.

[0209] The top of the inspection frame 32 is provided with a guide rail groove 54 extending in the front-to-back direction. The guide rail groove 54 is located at the middle of each transparent plate 45 in the left-to-right direction. Each transparent plate 45 has a positioning wheel 55 connected to the guide rail groove 54 at the middle of its left-to-right direction. Driven by the left and right chain mechanisms, the positioning wheel 55 of the transparent plate 45 that runs to the top of the inspection frame 32 rolls along the guide rail groove 54 and is supported by the guide rail groove 54. Two positioning wheels 55 are provided at intervals on the transparent plate 45 facing the guide rail groove 54. Preferably, the guide rail groove 54 has a bent portion at the front and rear ends of the inspection frame 32, respectively, along the extension direction of the left and right chain mechanisms, so that the positioning wheel 55 is already connected to the guide rail groove 54 before running to the top of the inspection frame 32.

[0210] As a preferred option, a set of guide rail grooves 54 can also be provided at the bottom of the inspection frame 32. Correspondingly, a set of positioning wheels 55 needs to be provided on each of the two surfaces of each transparent plate.

[0211] The positioning wheel 55 of the transparent plate 45, which runs to the top of the inspection frame 32, rolls along the guide rail groove 54 and is supported by the guide rail groove 54. This can counteract the effects of the elasticity of the chain 41 and the elasticity of the transparent plate 45, so that the transparent plate 45 can be better kept horizontal at the top of the inspection frame 32.

[0212] The upper shooting device includes an upper box 33 mounted on the top of the detection frame 32. The upper box 33 is equipped with an upper camera 34 and an upper light. The shooting direction of the upper camera 34 is vertically downward.

[0213] The lower imaging device includes a lower housing 35 mounted on top of the inspection frame 32. The lower housing 35 houses a lower camera 36 and a lower illumination lamp. The lower camera 36's imaging direction is vertically upward. The upper and lower illumination lamps preferably employ a shadowless lamp structure or arrangement, avoiding the shooting angles of the upper camera 34 and the lower camera 36. The upper and lower illumination lamps are conventional technologies and are not shown in the figures. The running trajectory of the transparent plate 45 on the top of the inspection frame 32 is located between the upper and lower imaging devices.

[0214] The upper and lower shooting devices are staggered; a lower black background plate 56 is provided on the inspection frame 32 below the running track at the top of the inspection frame 32 (meaning the lower black background plate 56 is lower than the transparent plate 45 at the top of the inspection frame 32), and an upper black background plate 57 is provided on the inspection frame above the running track at the top of the inspection frame 32 (meaning the upper black background plate 57 is higher than the transparent plate 45 at the top of the inspection frame 32); the lower black background plate 56 is located below the upper shooting device, and the upper black background plate 57 is located above the lower shooting device.

[0215] The upper and lower shooting devices are staggered and take pictures one after the other. The pure black background image is obtained from the upper black background plate 57 and the lower black background plate 56, which provides a good image for easy recognition in the later image recognition.

[0216] The imaging guide structure includes several left and right partitions 58 set on the top of the inspection frame 32. The left and right partitions 58 extend in the front-back direction. The bottom of the left and right partitions 58 is higher than the transparent plate 45 on the top of the inspection frame 32 and adjacent to the transparent plate 45 on the top of the inspection frame 32 (the gap is 0.3±0.1 mm). The adjacent left and right partitions 58 form a guide channel, and each guide channel forms a guide channel group. The filling material carried on the transparent plate 45 passes through the imaging area and enters the feeding guide structure under the restriction of the guide channel.

[0217] Each transparent plate 45 has front and rear partition plates 59 at the corresponding positions of the guide channels. The front and rear partition plates 59 that move to the top of the detection frame 32 are located in the guide channels and their two ends are adjacent to the corresponding left and right partition plates 58 (with a spacing of 0.3±0.1 mm to prevent filling materials from passing through the gaps and to ensure the pushing force on the filling materials). The front and rear partition plates 59 at the front and rear ends of the transparent plate 45 and the left and right partition plates 58 on both sides form a material conveying channel.

[0218] The shooting guide structure separates the filling materials into individual conveying troughs. Not only do the left and right partitions 58 ensure that the filling materials pass through the shooting area in an orderly manner, but the conveying troughs in the shooting images also form a very obvious grid-like background.

[0219] The left and right separators 58 are fixed to the top of the testing frame 32 by a crossbeam structure;

[0220] The crossbeam structure includes a crossbeam 60, with its left and right ends mounted on the left and right ends of the testing frame 32 via crossbeam mounting bases 61, respectively. Each left and right partition plate 58 has an upwardly protruding crossbeam suspension plate 62, through which the crossbeam 60 passes in the left and right direction. The upper surface of the crossbeam 60 has multiple positioning grooves corresponding to each left and right partition plate 58, and the crossbeam suspension plate 62 is inserted downward into the corresponding positioning groove to limit the left and right positions of the left and right partition plates 58. The positioning grooves are obscured by the crossbeam suspension plate 62 in the figure and are not shown.

[0221] A set of crossbeam structures is installed in front of and behind the shooting area.

[0222] The crossbeam suspension plate 62 is inserted downward into the corresponding positioning groove to limit the left and right positions of the left and right partition plates 58, prevent the left and right partition plates 58 from moving left and right along the crossbeam 60, and thus fix the position of each guide groove.

[0223] A set of crossbeams is installed in front of and behind the shooting area, making the overall structure of the guide channel more balanced and stable.

[0224] The material feeding guide structure includes a feeding plate 63 for receiving filling materials falling from the transparent plate 45. The angle between the feeding plate 63 and the vertical line is preferably 40-60 degrees (inclusive) so that the filling materials can slide down naturally and smoothly.

[0225] The left and right ends of the feeding plate 63 are fixedly connected to the left and right ends of the testing frame 32 via feeding connecting plates 64, respectively. Several feeding guide plates 65 are provided on the feeding plate 63, corresponding one-to-one with the left and right partition plates 58. The feeding guide plates 65 are located at the front end of the testing frame 32 and are lower than the top of the upper corner support sprocket 42. Adjacent feeding guide plates 65 form feeding troughs, and each feeding trough forms a feeding trough group. The feeding troughs correspond one-to-one with the guide troughs.

[0226] The upper camera, lower camera 36, ​​guide channel group and material discharge channel group are provided in two or more sets, which can facilitate the improvement of the processing capacity of the present invention as needed.

[0227] The filling material flows downward through the feeding plate 63 out of the frozen filling material visual inspection mechanism of the present invention and enters the diversion and discharge mechanism.

[0228] The filling material moves forward with the transparent plate 45 to the upper corner support sprocket 42 at the front end of the detection frame 32. The transparent plate 45 then turns downward with the chain 41 mechanism and runs in a cycle. At this time, the filling material falls forward and downward under the action of inertia and lands on the feeding plate 63. It then flows out of the invention in an orderly manner along the guiding structure of the feeding plate 63.

[0229] In this invention, the upper corner support sprocket 42 and the lower corner support sprocket 43 have the same radius, R, and the front-to-back width of the transparent plate 45 is L, with R / L ≥ 0.5. The preferred value of R / L is 1-2 (including both ends). If the R / L value is less than 0.5, the transparent plate 45 cannot bend properly at the corner support sprocket and will be damaged due to structural interference; if the R / L value is too large, it will occupy too much space and is not aesthetically pleasing. The preferred R / L value of 1-2 balances the passability of the transparent plate 45 at the corner support sprocket, while also occupying less space and being relatively more aesthetically pleasing.

[0230] The bottom of the frame is provided with a front pull-out groove 66 and a rear pull-out groove 67 at intervals below the left chain mechanism and the right chain mechanism. The front pull-out groove 66 is provided with a strip-shaped brush 68 for cleaning the transparent plate, and the rear pull-out groove 67 is provided with a sponge strip 69 for cleaning the transparent plate. When the transparent plate passes over the strip-shaped brush 68 and the sponge strip 69, the transparent plate presses downward against the top of the strip-shaped brush 68 and the top of the sponge strip 69 and the top of the transparent plate.

[0231] As the transparent plate passes over the strip brush 68 and the sponge strip 69, it presses downwards against the tops of the strip brush 68 and the sponge strip 69, thus cleaning the lower surface of the transparent plate (mainly removing traces of filling material). When the transparent plate reaches the top of the inspection frame, the cleaned surface becomes the upper surface of the transparent plate and is used to hold the filling material. Because the transparent plate is cleaned in each operating cycle, interference from traces of filling material (especially filling material left by broken fillings) is avoided, resulting in an accurate image of the filling material. The bottom of both the strip brush 68 and the sponge strip 69 preferably has a pull-out handle 70 for easy replacement or cleaning.

[0232] During operation, the chain drive motor 40 is started to drive the left chain mechanism and the right chain mechanism, and the transparent plate 45 moves cyclically along with the left chain mechanism and the right chain mechanism.

[0233] The upstream process feeds the filling material from back to front onto the transparent plate 45 at the top rear end of the inspection frame 32, and it enters the imaging area in an orderly manner under the action of the imaging guide structure. The upper and lower imaging devices respectively capture top and bottom views of the filling material to obtain a complete image of the filling material. After being photographed, the filling material passes through the imaging area and falls at the downward bend at the front end of the chain 41, landing on the corresponding feeding guide structure, which then guides it in an orderly manner to the downstream process.

[0234] like Figure 1 as well as Figures 18 to 22 As shown, the diversion and discharge mechanism of the present invention includes a defect-free filling material discharge mechanism and a defective filling material diversion mechanism; the forward direction is the movement direction of the defect-free filling material.

[0235] The defect-free filling material outflow mechanism includes an outflow frame 71 with a high rear and low front angle and an end frame 72 with a horizontal arrangement.

[0236] The discharge frame 71 is equipped with an inclined left baffle 73 and an inclined right baffle 74 with the rear being higher than the front. An inclined feeding belt conveyor mechanism is installed between the inclined left baffle 73 and the inclined right baffle 74.

[0237] The end frame 72 is provided with a horizontal left baffle 75 and a horizontal right baffle 76 arranged horizontally in the front-to-back direction. A horizontal discharge belt conveyor mechanism is installed between the horizontal left baffle 75 and the horizontal right baffle 76. The inclined discharge belt conveyor mechanism is used to receive the defect-free filling material sent from the upstream process and send it to the horizontal discharge belt conveyor mechanism. The horizontal discharge belt conveyor mechanism is used to convey the defect-free filling material to the downstream process.

[0238] The defective filling material diversion mechanism includes an inclined diversion conveyor mechanism, a transverse conveyor mechanism, and a waste collection box 77, with the top of the waste collection box 77 open.

[0239] The inclined diversion conveyor is mounted above the inclined feeding belt conveyor. The end of the inclined diversion conveyor is located above the transverse conveyor and is used to send defective filling materials to the transverse conveyor. The end of the transverse conveyor is located above the waste collection box 77 and is used to send defective filling materials into the waste collection box 77.

[0240] The inclined diversion conveyor is used to receive defective filling materials from the upstream process and convey them to the waste collection box 77 via the transverse conveyor.

[0241] This invention uses an inclined diversion conveyor to intercept defective filling materials, allowing undefective filling materials to flow to downstream processes along the undefective filling material outflow mechanism, and allowing defective filling materials to flow into the waste collection box 77 along the inclined diversion conveyor, thus conveniently realizing the diversion and conveying of filling materials.

[0242] The inclined feeding belt conveyor includes a front upper roller shaft, a rear lower roller shaft, and an inclined belt 78 wound between the front upper roller shaft and the rear lower roller shaft. The front upper roller shaft or the rear lower roller shaft is connected to the output shaft of the inclined discharge motor 79, which is mounted on the inclined left baffle 73 or the inclined right baffle 74.

[0243] The horizontal discharge belt conveyor mechanism includes a front roller shaft, a rear roller shaft, and a horizontal belt 80 wound between the front roller shaft and the rear roller shaft. The front roller shaft or the rear roller shaft is connected to the output shaft of the horizontal discharge motor 81, which is mounted on the horizontal left baffle 75 or the horizontal right baffle 76.

[0244] The front roller shaft, rear roller shaft, upper front roller shaft, and lower rear roller shaft are all obscured by their respective belts in the attached diagram and are not shown. The belt conveyor mechanism is a conventional technology and will not be described in detail.

[0245] The inclined diversion conveyor includes a front support beam 82 and a rear support beam 83, which are supported on the inclined left baffle 73 and the inclined right baffle 74 respectively by outriggers 84.

[0246] Multiple rear hinge seats 85 are fixedly provided on the rear support beam 83 at intervals on the left and right. Each rear hinge seat 85 is hinged to a rear rotating plate 86 in the upward direction. Each rear rotating plate 86 is fixedly connected to a guide trough 87 in the upward direction.

[0247] The front support beam 82 is located in front of and below the rear support beam 83. Multiple front hinge seats 88 are fixedly arranged on the front support beam 82 at intervals on the left and right. The front hinge seats 88 are arranged one-to-one with the rear hinge seats 85. Each front hinge seat 88 is hinged upward to a corresponding pushing device 89. The pushing device 89 is a cylinder, a hydraulic cylinder, or an electric push rod. The extension rod of each pushing device 89 is hinged upward to a corresponding front rotating plate 90. The front rotating plate 90 is connected upward to the corresponding guide groove 87.

[0248] When the extension rod of the jacking device 89 extends upward, the front end of the corresponding guide chute 87 falls downward to its receiving position.

[0249] When the extension rod of the jacking device 89 retracts downward, the front end of the corresponding guide chute 87 rises upward to its material separation position.

[0250] The front end of each guide chute 87 is located above the transverse conveying mechanism.

[0251] Each pusher 89 in the inclined diversion conveyor mechanism can operate independently, causing each guide trough 87 to rotate around the hinge point between the rear hinge seat 85 and the rear rotating plate 86, so that each guide trough 87 has a receiving position for receiving materials from the upstream process and a discharging position for not receiving materials from the upstream process, thereby providing a basis for diverting defective filling materials.

[0252] The material guide trough 87 is equipped with a material guide belt conveyor mechanism, which has a material guide belt 91 and a material guide drive motor 92 for driving the material guide belt 91 to rotate. The material guide drive motor 92 is installed on the side wall of the material guide trough 87.

[0253] The material guide belt 91 is a conventional belt conveyor mechanism, with the same structure as the horizontal discharge belt conveyor and the inclined discharge belt conveyor, which will not be described in detail.

[0254] The guide belt 91 conveyor mechanism can prevent the guide chute 87 from being too tilted to ensure that the material falls smoothly downwards, and ensure that the material falls smoothly into the transverse conveyor mechanism.

[0255] The transverse conveying mechanism includes a transverse frame 93 that spans across the discharge frame 71 in the left-right direction. A transverse trough 94 is provided at the top of the transverse frame 93. A transverse belt drive mechanism is provided inside the transverse trough 94. The transverse belt conveying mechanism has a transverse belt 95 and a transverse drive motor 96 for driving the transverse belt 95. The transverse drive motor 96 is mounted on the side wall of the transverse trough 94. At the end of the transverse belt 95, the bottom of the transverse trough 94 is inclined downward and connected to a drop plate 97. The lower end of the drop plate 97 is located above the waste collection box 77.

[0256] During continuous operation, the transverse belt 95 can send any defective filling material that falls on it into the waste collection box 77 at any time.

[0257] Each feed trough 87 has a corresponding upward inclined receiving trough 98 at its rear end. The receiving trough 98 is used to receive filling materials sent from the upstream process. The receiving trough 98 is wider at the rear and narrower at the front.

[0258] The receiving trough 98 is wider at the rear for easy receiving of materials; the receiving trough 98 is narrower at the front for easy introduction of filling materials into the guiding trough 87.

[0259] During operation, when all the materials sent from the upstream process are defect-free fillings, all the push rods of the push devices 89 retract downwards, and all the guide troughs 87 rise upwards and are in the material-discharging position. At this time, all the receiving troughs 98 are higher than the position for receiving materials from the upstream process. All the materials from the upstream process fall onto the inclined belt 78, and at the end of the inclined belt 78, they fall onto the horizontal belt 80. The horizontal belt 80 sends the defect-free fillings to the downstream process for packaging.

[0260] When the material from the upstream process is defective, the extension rod of the pusher 89 corresponding to the defective filling material rises upward, and the front end of the corresponding guide trough 87 and the receiving trough 98 fall downward to the receiving position. The defective material from the upstream process is caught by the receiving trough 98 and guided into the guide trough 87, preventing the defective material from falling onto the inclined belt 78. The defective filling material in the guide trough 87 falls downward onto the transverse belt 95 under the action of the guide belt 91, and finally falls into the waste collection box 77 through the drop plate 97 under the transmission action of the transverse belt 95, realizing the diversion and collection of waste.

[0261] This invention also discloses a sorting method using the above-mentioned visual sorting system for filling materials. The electrical control device is connected to a vibration motor 3, a lifting motor 8, a chain drive motor 40, an upper light, a lower light, an upper camera 34, a lower camera 36, ​​an inclined discharge motor 79, a horizontal discharge motor 81, a guide drive motor 92, and a transverse drive motor 96. The feeding trough of the vibrating discharge and feeding mechanism corresponds one-to-one with the guide trough of the visual inspection mechanism for frozen filling materials. The discharging trough of the visual inspection mechanism for frozen filling materials corresponds one-to-one with the receiving trough 98 of the diversion and discharge mechanism. Both the upper camera 34 and the lower camera 36 are black and white cameras.

[0262] The sorting method is carried out according to the following steps:

[0263] The first step is the startup process;

[0264] The vibration motor 3, lifting motor 8, chain drive motor 40, upper lighting, lower lighting, upper camera 34, lower camera 36, ​​tilting discharge motor 79, horizontal discharge motor 81, guide drive motor 92 and transverse drive motor 96 are started by the electronic control device, so that all parts of the visual sorting system for filling materials start to operate.

[0265] The second step is continuous feeding, continuous testing, and continuous sorting.

[0266] Continuous feeding is:

[0267] The filling material is poured from the rear end of the vibrating feeder into each V-shaped groove 4 by manual labor or mechanical means. Under the action of vibration, the filling material is dispersed and evenly distributed in each V-shaped groove 4 and conveyed forward.

[0268] The filling material falls from the front end of the V-shaped groove 4, enters the corresponding longitudinal groove through the transfer baffle 15, and falls into the movable lifting groove 11 within the range of the longitudinal groove;

[0269] Under the action of the surface friction of the lifting belt 7 and the pushing action of the front and rear partition plates 10 that make up the moving material lifting trough 11, the filling material is lifted upward along the lifting belt 7 and falls precisely into the feeding end of the corresponding frozen filling material visual inspection mechanism through the feeding trough with a constricted bottom structure; the rear end of each guide trough serves as the feeding end of the frozen filling material visual inspection mechanism.

[0270] Continuous monitoring is:

[0271] After the filling material enters each guide channel, it is supported by the transparent plate 45 and passes through the shooting area with the transparent plate 45;

[0272] When the filling material passes under the upper camera 34, the upper camera 34 captures a grayscale image of the upper half of the filling material.

[0273] When the filling material passes above the lower camera 36, ​​the lower camera 36 captures a grayscale image of the lower half of the filling material.

[0274] The upper and lower black background panels ensure that the grayscale images captured by the upper camera 34 and the lower camera 36 both have a black background.

[0275] After obtaining grayscale images of the upper and lower halves of the filling material, the electronic control device identifies whether the filling material is a good or defective product according to the following algorithm:

[0276] 1. The electronic control device extracts closed contour lines in the image through a contour extraction algorithm (edge ​​recognition algorithm) and calculates the number of pixels in the area enclosed by each closed contour line (SXS).

[0277] For specific filling materials (such as a batch of dumplings or buns produced this time), the staff will adjust the appropriate minimum number of pixels (MINSX value) in advance and store it in the electronic control device, taking into account the fixed characteristic parameters such as the resolution of the upper camera 34 and the lower camera 36.

[0278] For the area enclosed by the closed contour line where SXS≤MINSX in the image, the electronic control device determines that it is not a filling material (it is a residue or impurity such as powder or filling that has fallen off a filling material); for the area enclosed by the closed contour line where SXS>MINSX in the image, the electronic control device determines that it is a filling material.

[0279] Contour extraction algorithms are a common technique in the field of image recognition, and will not be elaborated on in detail.

[0280] The above debugging method is as follows: Based on experience, the staff initially determines a minimum number of pixels (MINSX). After testing, if there is obvious missed detection (i.e., some small filling materials are identified as non-filling materials), the MINSX value is lowered accordingly. If there is obvious over-detection (i.e., non-filling materials such as slag or impurities are incorrectly identified as filling materials), the MINSX value is increased accordingly. The final MINSX value is determined when the trial run achieves a detection effect that satisfies those skilled in the art.

[0281] 2. For the area enclosed by the closed contour line where SXS > MINSX in the image, if there are other closed contour lines inside it (exposed filling will form a smaller contour line, such as the exposed filling inside and outside the dumpling contour line forming an even smaller contour line), the electronic control device judges the material as a defective filling material.

[0282] 3. For the region enclosed by the closed contour line of SXS > MINSX in the image, if there are no other closed contour lines inside, the electronic control device calculates the average gray value of all pixels within the closed contour line range of each filling material identified in the image.

[0283] For specific filling materials (such as a batch of dumplings or buns produced this time), the staff first debugs a suitable standard average gray value PJBB and stores it in the electronic control device. The debugging method is as follows: the staff initially determines a standard average gray value PJBB based on experience. After test operation, if there is obvious missed detection (that is, some filling materials with leakage are not identified), the PJBB value is increased accordingly. If there is obvious over-detection (that is, filling materials without leakage are incorrectly judged as defective filling materials), the PJBB value is decreased accordingly. The final PJBB value is determined when the test operation achieves a detection effect that satisfies those skilled in the art.

[0284] When the average gray value SUMPJ within the closed outline of a filling material is greater than or equal to PJBB, the electronic control device determines that the filling material is a defect-free filling material.

[0285] Because different cameras have different characteristics, and different batches of fillings have different sizes and colors, when changing cameras or backgrounds, or for different batches of fillings, staff need to reset the MINSX and PJBB values.

[0286] The electronic control device controls the operating status of the pusher of the diversion discharge mechanism based on the running speed of the circulating drive mechanism and the distance between the camera point and the receiving trough 98 of the diversion discharge mechanism, so that when the corresponding filling material arrives at the receiving trough 98 of the diversion discharge mechanism, the receiving trough 98 is raised and in a non-receiving state.

[0287] When the average gray value SUMPJ < PJBB within the closed outline of a filling material, the electronic control device determines that the filling material is defective.

[0288] The electronic control device controls the operating status of the pusher of the diversion discharge mechanism based on the running speed of the circulating drive mechanism and the distance between the camera point and the receiving trough 98 of the diversion discharge mechanism, so that when the corresponding filling material reaches the receiving trough 98 of the diversion discharge mechanism, the receiving trough 98 is lowered and in the receiving state.

[0289] The diversion and discharge mechanism controls the operation of each pushing device based on the average gray value within the closed contour line range of each filling material obtained by image recognition. This allows the inclined belt 78 to continuously receive defect-free filling materials and send them to the downstream process via the horizontal belt. The receiving trough 98 of the diversion and discharge mechanism continuously receives defective filling materials and finally guides them into the waste collection box 77.

[0290] Continue with the second step until all filling materials are sorted.

[0291] The third step is the final step, which involves shutting down the vibration motor 3, lifting motor 8, chain drive motor 40, upper light, lower light, upper camera 34, lower camera 36, ​​tilting discharge motor 79, horizontal discharge motor 81, guide drive motor 92, and transverse drive motor 96, thus ending the visual recognition and automatic sorting process.

[0292] Compared to ordinary image recognition algorithms, the image recognition algorithm of this invention features a clever and novel design with very low computational cost. The design concept is as follows: First, the common characteristic of fillings is that the outer skin is light-colored while the filling is dark-colored. Therefore, traditional complex image recognition algorithms (which require color images, material feature recognition, defining the features of leaking filling areas, and identifying the leaks) can be abandoned. This invention does not need to define the leaking filling areas in the image; it only needs to identify the outline of the material and calculate the average grayscale value within the outline range. Thus, a black-and-white camera is used instead of a color camera, eliminating the need for binarization and other operations. This results in high speed, stable and high accuracy, and low equipment cost.

[0293] Due to variations in the ingredients of different types and batches of fillings, including flour and other outer materials, the color depth (grayscale value) of the outer skin and the filling varies. Therefore, for a specific batch of filling materials, workers need to first experiment to determine the appropriate PJBB value according to the approach of this invention. During operation, the image recognition algorithm of this invention mainly calculates the average grayscale value SUMPJ of all pixels within the closed contour area of ​​each filling material, and then compares the size of SUMPJ with the PJBB. Compared with ordinary image recognition, the computational load is significantly reduced, the energy consumption required for image recognition is greatly reduced, and the latency during operation is very small. It is suitable for real-time processing in process control and will not delay process control due to excessive image processing time.

[0294] The above embodiments are only used to illustrate and not limit the technical solutions of the present invention. Although the present invention has been described in detail with reference to the above embodiments, those skilled in the art should understand that modifications or equivalent substitutions can still be made to the present invention without departing from the spirit and scope of the present invention. Any modifications or partial substitutions should be covered within the scope of the claims of the present invention.

Claims

1. A visual sorting system for fillings, characterized in that: It includes a vibrating feeding mechanism, a visual inspection mechanism for frozen fillings, a diversion and discharge mechanism, and an electrical control device. The electrical control device is connected to the vibrating feeding mechanism, the visual inspection mechanism for frozen fillings, and the diversion and discharge mechanism. The vibrating feeding mechanism is used to orderly feed frozen filling materials to the visual inspection mechanism. The visual inspection equipment for frozen fillings is used for visual identification of fillings; The diversion and discharge mechanism is used to sort out defective filling materials and supply defect-free filling materials to the next process. The vibrating discharge and feeding mechanism includes a vibrating feeding device and an inclined lifting device. The inclined lifting device is used to lift the material falling from the vibrating feeding device and supply it to the visual inspection mechanism for frozen filling materials. The vibrating feeder is used to disperse materials and arrange them in an orderly manner. The vibrating feeder includes a feed frame, which is connected to a vibrating feed rack at the top via a support spring. A vibrating motor is installed on the vibrating feed rack. With the material movement direction as the forward direction, multiple V-shaped grooves are evenly arranged side by side inside the vibrating feeder. The top of each V-shaped groove is flush with the top of the vibrating feeder, the rear end of each V-shaped groove is connected to the rear baffle of the vibrating feeder, and the front end of each V-shaped groove extends forward out of the vibrating feeder and serves as the material dropping end of the V-shaped groove. The material dropping end of each V-shaped groove serves as the material dropping end of the vibrating feeder. The vibrating feeder and each V-shaped groove are inclined with the rear higher than the front. The V-shaped grooves are used to accommodate the conveyed material and to convey the material forward along the V-shaped grooves under the action of vibration. A visual inspection mechanism for frozen fillings includes an inspection frame with a circulating drive mechanism for driving a transparent plate to circulate through a shooting area located at the top of the inspection frame. Above the shooting area is an upper shooting device for shooting fillings from top to bottom, and below the shooting area is a lower shooting device for shooting fillings from bottom to top. With the material movement direction as the forward direction, the top of the detection frame is equipped with a shooting guide structure to allow filling materials to pass through the shooting area in an orderly manner; The top of the detection frame behind the shooting area is connected to a feeding guide structure for receiving filling materials falling from the front of the shooting guide structure. The diversion and discharge mechanism includes a defect-free filling material discharge mechanism and a defective filling material diversion mechanism; the direction of movement of the defect-free filling material is the forward direction; The defect-free filling material outflow mechanism includes an outflow frame that is inclined at the rear and low at the front, and a horizontally arranged end frame. The discharge frame is equipped with an inclined left baffle and an inclined right baffle that are higher at the rear and lower at the front. An inclined feeding belt conveyor mechanism is installed between the inclined left baffle and the inclined right baffle. The end frame is equipped with a horizontal left baffle and a horizontal right baffle that are horizontally arranged in the front-to-back direction. A horizontal discharge belt conveyor is installed between the horizontal left baffle and the horizontal right baffle. The inclined discharge belt conveyor is used to receive the defect-free filling material sent from the upstream process and send it to the horizontal discharge belt conveyor. The defective filling material diversion mechanism includes an inclined diversion conveyor, a transverse conveyor, and a waste collection box, with the top of the waste collection box open. The inclined diversion conveyor is mounted above the inclined feeding belt conveyor. The end of the inclined diversion conveyor is located above the transverse conveyor and is used to send defective filling materials to the transverse conveyor. The end of the transverse conveyor is located above the waste collection box and is used to send defective filling materials into the waste collection box. The inclined diversion conveyor is used to receive defective filling materials from the upstream process and send them into the waste collection box through the transverse conveyor. The electrical control device connects to a vibration motor, a lifting motor, a chain drive motor, an upper light, a lower light, an upper camera, a lower camera, an inclined discharge motor, a horizontal discharge motor, a guide drive motor, and a transverse drive motor; the feeding trough of the vibrating discharge and feeding mechanism corresponds one-to-one with the guide trough of the visual inspection mechanism for frozen fillings; the discharging trough of the visual inspection mechanism for frozen fillings corresponds one-to-one with the receiving trough of the diversion discharge mechanism; both the upper and lower cameras are black and white cameras; The sorting method is carried out according to the following steps: The first step is the startup process; The vibration motor, lifting motor, chain drive motor, upper lighting, lower lighting, upper camera, lower camera, tilting discharge motor, horizontal discharge motor, guide drive motor and lateral drive motor are started by the electronic control device, so that all parts of the visual sorting system for filling materials start to operate. The second step is continuous feeding, continuous testing, and continuous sorting. Continuous feeding is: The filling material is poured from the rear end of the vibrating feeder into each V-shaped groove by manual labor or mechanical means. Under the action of vibration, the filling material is dispersed and evenly distributed in each V-shaped groove and conveyed forward. The filling material falls from the front end of the V-shaped trough, enters the corresponding longitudinal trough through the transfer baffle, and falls into the moving lifting trough within the range of the longitudinal trough; Under the action of the surface friction of the lifting belt and the pushing action of the front and rear partition plates that make up the moving material lifting trough, the filling material is lifted upward along the lifting belt and falls precisely into the feeding end of the corresponding frozen filling material visual inspection mechanism through the feeding trough with a constricted bottom structure; the rear end of each guide trough serves as the feeding end of the frozen filling material visual inspection mechanism. Continuous monitoring is: After the filling materials enter each guide channel, they are supported by the transparent plate and pass through the shooting area with the transparent plate; When the filling material passes under the upper camera, the upper camera captures a grayscale image of the upper half of the filling material. When the filling material passes above the lower camera, the lower camera captures a grayscale image of the lower half of the filling material. The upper and lower black background panels ensure that the grayscale images captured by the upper and lower cameras both have a black background; After obtaining grayscale images of the upper and lower halves of the filling material, the electronic control device identifies whether the filling material is a good or defective product according to the following algorithm:

1. The electronic control device extracts closed contour lines in the image using a contour extraction algorithm and calculates the number of pixels (SXS) in the area enclosed by each closed contour line. For specific filling materials, the staff pre-determines the minimum number of pixels (MINSX value) and stores it in the electronic control device; For the region enclosed by the closed contour line where SXS≤MINSX in the image, the electronic control device determines that it is not a filling material; for the region enclosed by the closed contour line where SXS>MINSX in the image, the electronic control device determines that it is a filling material.

2. For the area enclosed by the closed contour line of SXS > MINSX in the image, if there are other closed contour lines inside it, the electronic control device determines that the material is a defective filling material.

3. For the region enclosed by the closed contour line of SXS > MINSX in the image, if there are no other closed contour lines inside, the electronic control device calculates the average gray value of all pixels within the closed contour line range of each filling material identified in the image. For specific filling materials, staff pre-calibrate the standard average gray value PJBB and store it in the electronic control device; When the average gray value SUMPJ within the closed outline of a filling material is greater than or equal to PJBB, the electronic control device determines that the filling material is a defect-free filling material. The electronic control device controls the operating status of the pusher of the diversion discharge mechanism based on the running speed of the circulating drive mechanism and the distance between the camera point and the receiving trough of the diversion discharge mechanism, so that when the corresponding filling material arrives at the receiving trough of the diversion discharge mechanism, the receiving trough is raised and in a non-receiving state. When the average gray value SUMPJ < PJBB within the closed outline of a filling material, the electronic control device determines that the filling material is defective. The electronic control device controls the operating status of the pusher of the diversion discharge mechanism based on the running speed of the cyclic drive mechanism and the distance between the camera point and the receiving trough of the diversion discharge mechanism, so that when the corresponding filling material arrives at the receiving trough of the diversion discharge mechanism, the receiving trough is lowered and in the receiving state. The diversion and discharge mechanism controls the operation of each pushing device based on the average gray value within the closed contour line range of each filling material obtained by image recognition. This allows the inclined belt to continuously receive defect-free filling materials and send them to the downstream process via the horizontal belt. Meanwhile, the receiving trough of the diversion and discharge mechanism continuously receives defective filling materials and finally guides them into the waste collection box. Continue with the second step until all filling materials are sorted. The third step is the final step, which involves shutting down the vibration motor, lifting motor, chain drive motor, upper lighting, lower lighting, upper camera, lower camera, tilting discharge motor, horizontal discharge motor, guide drive motor, and lateral drive motor, thus ending the visual recognition and automatic sorting process.

2. The visual sorting system for fillings according to claim 1, characterized in that: The tilting lifting device includes a lifting frame that extends forward and upward from below the material dropping end of the vibrating feeding device to the feeding end of the visual inspection mechanism for frozen filling materials. The lifting frame is equipped with a belt conveyor mechanism, which includes a front upper roller, a rear lower roller, and a lifting belt wound between the front upper roller and the rear lower roller. The central shaft of the front upper roller or the rear lower roller is connected to the output shaft of the lifting motor, and the lifting motor is mounted on the lifting frame. Inside the lifting frame, above the lifting belt, there are left and right partition plates along the direction of the lifting belt's rotation. Multiple left and right partition plates are evenly spaced along the left and right direction. Two adjacent left and right partition plates form a longitudinal groove above the lifting belt, and the longitudinal groove corresponds one-to-one with the V-shaped groove. Front and rear partition plates are provided on the surface of the lifting belt at the positions corresponding to each longitudinal groove. The front and rear partition plates that move to the upper surface of the lifting belt are located in the longitudinal groove and their two ends are adjacent to the corresponding left and right partition plates. Multiple front and rear partition plates corresponding to each longitudinal groove are evenly spaced along the circumferential direction of the lifting belt. Two adjacent front and rear partition plates in the longitudinal groove and the left and right partition plates on their left and right sides form a movable material lifting chute. The top of the testing frame is flat, and the cyclic drive mechanism includes a left chain mechanism, a right chain mechanism, a transmission shaft, a driven gear, a chain drive motor, and a driving gear; The left chain mechanism and the right chain mechanism have the same structure. The left chain mechanism is located at the left end of the testing frame, and the right chain mechanism is located at the right end of the testing frame. The left chain mechanism and the right chain mechanism are collectively referred to as a one-sided chain mechanism; One-sided chain mechanism includes a chain and four corner support sprockets, the four corner support sprockets include two upper corner support sprockets and two lower corner support sprockets; Two upper corner support sprockets are respectively installed at the rear end and front end of the top of the testing frame, and two lower corner support sprockets are located in the middle or bottom of the testing frame and are located directly below the two upper corner support sprockets. The chain passes around and is driven by the corner support sprockets. The drive shaft is connected between the two lower corner support sprockets at the rear end or between the two lower corner support sprockets at the front end of the left and right chain mechanisms. The left and right ends of the drive shaft are mounted on the testing frame by bearings. The driven gear is installed in the middle of the drive shaft, and a motor mounting bracket is provided on the frame adjacent to the drive shaft. The chain drive motor is fixedly connected to the motor mounting bracket, and the driving gear is installed on the output shaft of the chain drive motor. The driving gear meshes with the driven gear. The transparent plate is connected between the chain of the left chain mechanism and the chain of the right chain mechanism. Multiple transparent plates are evenly spaced along the circumferential direction of the chain extension, and the gap between adjacent transparent plates is 10±3 mm. The inclined feeding belt conveyor includes a front upper roller shaft, a rear lower roller shaft, and an inclined belt wound between the front upper roller shaft and the rear lower roller shaft. The front upper roller shaft or the rear lower roller shaft is connected to the output shaft of the inclined discharge motor, which is mounted on the inclined left baffle or the inclined right baffle. The horizontal discharge belt conveyor mechanism includes a front roller shaft, a rear roller shaft, and a horizontal belt wound between the front roller shaft and the rear roller shaft. The front roller shaft or the rear roller shaft is connected to the output shaft of the horizontal discharge motor, which is mounted on the horizontal left baffle or the horizontal right baffle.

3. The visual sorting system for fillings according to claim 2, characterized in that: The bottom of the lifting frame is equipped with a lower guide device, which includes a lower baffle. The left and right ends of the lower baffle are fixedly connected to the left and right ends of the lifting frame through lower connecting plates. Several lower guide plates are provided on the lower baffle, corresponding one-to-one with the left and right partition plates. The bottom end of the lower guide plate is adjacent to the bottom end of the corresponding left and right partition plates, and the top end of the lower guide plate extends upward to the corresponding V-shaped groove. The adjacent lower guide plates and the lower baffles between them form a material transfer groove that corresponds one-to-one with both the V-shaped groove and the longitudinal groove. The top of the lifting frame is equipped with an upper guide device, which includes an upper baffle. The left and right ends of the upper baffle are fixedly connected to the left and right ends of the lifting frame through upper connecting plates. Several upper guide plates are provided on the upper baffle in correspondence with the left and right partition plates. The bottom end of the upper guide plate is adjacent to the feeding end of the visual inspection mechanism for frozen filling materials. A suspension shaft is fixedly connected to the frame directly above the drive shaft. Two suspension rods are fixedly connected downwards to the suspension shaft. Bearings or sliding sleeves are installed at the bottom of the suspension rods. The drive shaft passes through the bearings or sliding sleeves at the bottom of the suspension rods. The inclined diversion conveyor mechanism includes a front support beam and a rear support beam, which are supported on the inclined left baffle and the inclined right baffle by outriggers, respectively. Multiple rear hinge seats are fixedly installed on the rear support beam at intervals on the left and right. Each rear hinge seat is hinged to a rear rotating plate in the upward direction, and the rear rotating plate is fixedly connected to a guide chute in the upward direction. The front support beam is located in front of and below the rear support beam. Multiple front hinge seats are fixedly installed on the front support beam at intervals on the left and right. The front hinge seats are arranged one-to-one with the rear hinge seats. Each front hinge seat is hinged upward to a corresponding pushing device, which is a pneumatic cylinder, a hydraulic cylinder, or an electric push rod. The extension rod of each pushing device is hinged upward to a corresponding front rotating plate, and the front rotating plate is connected upward to the guide trough. When the extension rod of the jacking device extends upward, the front end of the corresponding guide chute falls downward to its receiving position; When the extension rod of the jacking device retracts downward, the front end of the corresponding guide chute rises upward to its material discharge position; the front end of each guide chute is located above the transverse conveying mechanism.

4. The visual sorting system for fillings according to claim 3, characterized in that: The lower ends of each upper guide plate are bifurcated to the left and right, making each upper guide plate a Y-shaped opening at the bottom. Adjacent upper guide plates and upper baffles form a feeding trough with a constricted bottom. The transparent plate is connected to the chain of the left chain mechanism and the chain of the right chain mechanism through a transparent plate connection structure; The transparent panel connection structure is: The chain includes inner links and outer links, which are alternately connected to form the chain. Each inner link includes two inner links and each outer link includes two outer links. A pin connects the two outer links and the two inner links. A connecting rod is provided in the middle of the two inner links, which protrudes upward. A connecting rod is fixedly passed through the connecting rod of the two inner links, and the connecting rod extends inward and connects to the transparent plate. The material guide trough is equipped with a material guide belt conveyor mechanism, which has a material guide belt and a material guide drive motor for driving the material guide belt to rotate. The material guide drive motor is installed on the side wall of the material guide trough.

5. The visual sorting system for fillings according to claim 4, characterized in that: The front of the vibrating feeder is connected upward to a scraper plate that is inclined with the rear lower than the front. The left end of the scraper plate is connected to the top of the left end of the feeder frame through a left turn plate, and the right end of the scraper plate is connected to the top of the right end of the feeder frame through a right turn plate. The bottom end of the scraper plate is adjacent to the top of each V-groove and is higher than the top of each V-groove. The standard thickness of the conveyed material is H, the maximum thickness error of the conveyed material is B, and the thickness of each conveyed material is less than H+B and greater than HB. The scraper and each V-groove form a space for accommodating the conveyed material. This space is larger than the space required to accommodate material with a thickness of H+B and smaller than the space required to accommodate material with a thickness of 2×(HB). The top of the inspection frame is provided with a guide rail groove extending in the front-to-back direction. The guide rail groove is located at the middle position of each transparent plate in the left-to-right direction. Each transparent plate has a positioning wheel connected to the guide rail groove at the middle position in the left-to-right direction. The positioning wheel of the transparent plate that moves to the top of the inspection frame under the drive of the left chain mechanism and the right chain mechanism rolls along the guide rail groove and is supported by the guide rail groove. There are two positioning wheels on the transparent plate at intervals in front and behind the guide rail groove. The transverse conveying mechanism includes a transverse frame that spans across the discharge frame in the left-right direction. A transverse trough is provided at the top of the transverse frame. A transverse belt drive mechanism is provided inside the transverse trough. The transverse belt conveying mechanism has a transverse belt and a transverse drive motor for driving the transverse belt. The transverse drive motor is installed on the side wall of the transverse trough. At the end of the transverse belt, the bottom of the transverse trough is inclined downward and connected to a drop plate. The lower end of the drop plate is located above the waste collection box.

6. The visual sorting system for fillings according to claim 5, characterized in that: Each of the V-shaped grooves, material transfer grooves, longitudinal grooves and feeding grooves corresponds to one another and forms a set of feeding troughs; the feeding troughs are provided with two or more sets spaced apart on the left and right sides; Between the V-shaped grooves of two adjacent sets of feeding troughs, there is a dividing triangular prism with the tip pointing upwards. The top edge of the dividing triangular prism has a rounded chamfer. The dividing triangular prism extends forward from the rear end of the vibrating feeder to the scraper plate. A partition strip with the same width as the dividing triangular prism is provided between the longitudinal grooves of two adjacent sets of feeding troughs; The left and right ends of the middle of the lower surface of the lifting frame are connected to the lower support shafts via the lower mounting bases. Support wheels are installed on the lower support shafts in a one-to-one correspondence with the partition belts. The support wheels support the lower surface of the lifting belt at the partition belts. At least one set of the lower support shaft and its support wheels is provided. The upper shooting device includes an upper box mounted on the top of the detection frame, and an upper camera and an upper light are installed inside the upper box. The shooting direction of the upper camera is vertically downward. The lower shooting device includes a lower housing mounted on the top of the inspection frame, and a lower camera and a lower light are installed inside the lower housing. The shooting direction of the lower camera is vertically upward. The transparent plate's trajectory at the top of the inspection frame is located between the upper and lower imaging devices; The feeding guide structure includes a feeding plate for receiving filling materials falling from the transparent plate. The left and right ends of the feeding plate are fixedly connected to the left and right ends of the detection frame through feeding connecting plates. Several feeding guide plates are provided on the feeding plate in correspondence with the left and right partitions. The feeding guide plates are located at the front end of the detection frame and are lower than the top of the upper corner support sprocket. Adjacent feeding guide plates form a feeding trough, and each feeding trough forms a feeding trough group. Each feed chute has a corresponding receiving chute at its rear end, which is inclined upwards. The receiving chute is used to receive filling materials from the upstream process. The receiving chute is wider at the rear and narrower at the front.

7. The visual sorting system for fillings according to claim 6, characterized in that: Each left and right partition plate is installed on the lifting frame by a partition fixing structure, and at least two sets of partition fixing structures are provided at intervals along the lifting direction of the lifting belt; The partition fixing structure includes a lifting fixing beam extending in the left and right direction. Each left and right partition plate has a lifting suspension plate protruding upwards corresponding to the lifting fixing beam. The lifting fixing beam passes through the lifting suspension plate of each left and right partition plate in the left and right direction. The upper surface of the lifting fixing beam has multiple grooves corresponding to each left and right partition plate. The lifting suspension plate is inserted downwards into the corresponding groove. The left and right ends of the lifting fixing beam are fixedly connected to the left and right ends of the upper surface of the lifting frame through upper mounting seats. The upper and lower shooting devices are staggered front to back; A lower black background plate is provided on the inspection frame below the running track at the top of the inspection frame, and an upper black background plate is provided on the inspection frame above the running track at the top of the inspection frame. The lower black background panel is located below the upper shooting device, and the upper black background panel is located above the lower shooting device; The shooting guide structure includes several left and right partitions set on the top of the detection frame. The left and right partitions extend in the front-back direction. The bottom of the left and right partitions is higher than the transparent plate on the top of the detection frame and adjacent to the transparent plate on the top of the detection frame. The adjacent left and right partitions form a guide channel, and each guide channel forms a guide channel group. The filling material carried on the transparent plate passes through the shooting area and enters the feeding guide structure under the restriction of the guide channel. Each transparent plate has front and rear partitions at the corresponding flow channels. The front and rear partitions that move to the top of the testing frame are located in the flow channels and their two ends are adjacent to the corresponding left and right partitions. The front and rear partitions at the front and rear of the transparent plate and the left and right partitions on both sides form a material conveying channel.

8. The visual sorting system for fillings according to claim 7, characterized in that: The left and right partitions are fixed to the top of the testing frame by a crossbeam structure; The crossbeam structure includes a crossbeam, with the left and right ends of the crossbeam mounted on the left and right ends of the testing frame via crossbeam mounting bases, respectively; each left and right partition is provided with a crossbeam suspension plate protruding upwards, and the crossbeam passes through each crossbeam suspension plate in the left and right direction; the upper surface of the crossbeam is provided with multiple positioning grooves corresponding to each left and right partition, and the crossbeam suspension plate is embedded downwards into the corresponding positioning groove to limit the left and right positions of the left and right partitions. A set of crossbeam structures is installed in front of and behind the shooting area; The upper corner support sprocket and the lower corner support sprocket have the same radius, R. The front and rear width of the transparent plate is L, and R / L is greater than or equal to 1 and less than or equal to 2. The bottom of the frame is provided with a front pull-out groove and a rear pull-out groove at intervals below the left chain mechanism and the right chain mechanism. The front pull-out groove is provided with a strip-shaped brush for cleaning the transparent plate, and the rear pull-out groove is provided with a sponge strip for cleaning the transparent plate. When the transparent plate passes over the strip-shaped brush and the sponge strip, the transparent plate presses down against the top of the strip-shaped brush and the sponge strip and the top of the transparent plate.

9. A sorting method using the visual sorting system for fillings as described in claim 8, wherein the electrical control device is connected to a vibration motor, a lifting motor, a chain drive motor, an upper light, a lower light, an upper camera, a lower camera, an inclined discharge motor, a horizontal discharge motor, a guide drive motor, and a transverse drive motor; the feeding trough of the vibrating discharge and feeding mechanism corresponds one-to-one with the guide trough of the visual inspection mechanism for frozen fillings; the discharging trough of the visual inspection mechanism for frozen fillings corresponds one-to-one with the receiving trough of the diversion and discharge mechanism; both the upper and lower cameras are black and white cameras; Its features Follow these steps: The first step is the startup process; The vibration motor, lifting motor, chain drive motor, upper lighting, lower lighting, upper camera, lower camera, tilting discharge motor, horizontal discharge motor, guide drive motor and lateral drive motor are started by the electronic control device, so that all parts of the visual sorting system for filling materials start to operate. The second step is continuous feeding, continuous testing, and continuous sorting. Continuous feeding is: The filling material is poured from the rear end of the vibrating feeder into each V-shaped groove by manual labor or mechanical means. Under the action of vibration, the filling material is dispersed and evenly distributed in each V-shaped groove and conveyed forward. The filling material falls from the front end of the V-shaped trough, enters the corresponding longitudinal trough through the transfer baffle, and falls into the moving lifting trough within the range of the longitudinal trough; Under the action of the surface friction of the lifting belt and the pushing action of the front and rear partition plates that make up the moving material lifting trough, the filling material is lifted upward along the lifting belt and falls precisely into the feeding end of the corresponding frozen filling material visual inspection mechanism through the feeding trough with a constricted bottom structure; the rear end of each guide trough serves as the feeding end of the frozen filling material visual inspection mechanism. Continuous monitoring is: After the filling materials enter each guide channel, they are supported by the transparent plate and pass through the shooting area with the transparent plate; When the filling material passes under the upper camera, the upper camera captures a grayscale image of the upper half of the filling material. When the filling material passes above the lower camera, the lower camera captures a grayscale image of the lower half of the filling material. The upper and lower black background panels ensure that the grayscale images captured by the upper and lower cameras both have a black background; After obtaining grayscale images of the upper and lower halves of the filling material, the electronic control device identifies whether the filling material is a good or defective product according to the following algorithm:

1. The electronic control device extracts closed contour lines in the image using a contour extraction algorithm and calculates the number of pixels (SXS) in the area enclosed by each closed contour line. For specific filling materials, the staff pre-determines the minimum number of pixels (MINSX value) and stores it in the electronic control device; For the region enclosed by the closed contour line where SXS≤MINSX in the image, the electronic control device determines that it is not a filling material; for the region enclosed by the closed contour line where SXS>MINSX in the image, the electronic control device determines that it is a filling material.

2. For the area enclosed by the closed contour line of SXS > MINSX in the image, if there are other closed contour lines inside it, the electronic control device determines that the material is a defective filling material.

3. For the region enclosed by the closed contour line of SXS > MINSX in the image, if there are no other closed contour lines inside, the electronic control device calculates the average gray value of all pixels within the closed contour line range of each filling material identified in the image. For specific filling materials, staff pre-calibrate the standard average gray value PJBB and store it in the electronic control device; When the average gray value SUMPJ within the closed outline of a filling material is greater than or equal to PJBB, the electronic control device determines that the filling material is a defect-free filling material. The electronic control device controls the operating status of the pusher of the diversion discharge mechanism based on the running speed of the circulating drive mechanism and the distance between the camera point and the receiving trough of the diversion discharge mechanism, so that when the corresponding filling material arrives at the receiving trough of the diversion discharge mechanism, the receiving trough is raised and in a non-receiving state. When the average gray value SUMPJ < PJBB within the closed outline of a filling material, the electronic control device determines that the filling material is defective. The electronic control device controls the operating status of the pusher of the diversion discharge mechanism based on the running speed of the cyclic drive mechanism and the distance between the camera point and the receiving trough of the diversion discharge mechanism, so that when the corresponding filling material arrives at the receiving trough of the diversion discharge mechanism, the receiving trough is lowered and in the receiving state. The diversion and discharge mechanism controls the operation of each pushing device based on the average gray value within the closed contour line range of each filling material obtained by image recognition. This allows the inclined belt to continuously receive defect-free filling materials and send them to the downstream process via the horizontal belt. Meanwhile, the receiving trough of the diversion and discharge mechanism continuously receives defective filling materials and finally guides them into the waste collection box. Continue with the second step until all filling materials are sorted. The third step is the final step, which involves shutting down the vibration motor, lifting motor, chain drive motor, upper lighting, lower lighting, upper camera, lower camera, tilting discharge motor, horizontal discharge motor, guide drive motor, and lateral drive motor, thus ending the visual recognition and automatic sorting process.

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