Automatic jackfruit stamen digging device based on machine vision

Abstract

The invention relates to an automatic jackfruit stamen digging device based on machine vision. The automatic jackfruit stamen digging device comprises a light source, a cross linear module, an inner stamen fine rotary knife, a conveying chain, a frame, a side face positioning module, a material receiving disc, a vision module, a universal air nozzle, a rotating motor, an inner stamen rough scraper, an end clamping module, a proximity sensor and a proximity sensor induction block. In the feeding process, it can be ensured that jackfruits accurately reach a processing station through a chain type conveying belt, a triangular limiting block and a proximity sensor; during stamen digging, a visual module is matched with a light source for lighting to carry out image acquisition on the surface of a jack fruit to be subjected to stamen digging, after acquisition is completed, the image is uploaded to an industrial personal computer for data analysis, then cross module feeding path data is output, and in combination with combined movement of a rotating motor, most of the inner stamen of the jack fruit can be cut off by a rough scraper in a rough scraping stage; and in the fine rotation stage, the inner core of the jackfruit is further cut off by using a fine rotation knife, and the two processing stations are matched to dig the core, so that the degree of opening the jackfruit is not influenced finally.

Description

Technical Field

[0001] The present invention relates to a jackfruit automatic core-digging technology based on machine vision, and in particular to a jackfruit automatic core-digging device and method based on machine vision. Background Art

[0002] As a fruit that is very popular in daily life, jackfruit has huge consumer demand and a broad market, which requires a strong market supply capacity to ensure supply. At present, the automated production of jackfruit has reached a certain scale, but the core-digging process in the automated production of jackfruit has always been completed manually, and the core-digging of jackfruit is a complicated, laborious and time-consuming task, which greatly restricts the efficiency of automated production of jackfruit. After analysis, it is because of the internal structure of the jackfruit that the inner core needs to be dug out before the jackfruit opens. Generally, the core-digging process is manual digging, that is, the worker uses the core-digging knife to reciprocate to cut the inner core until most of the inner core is cut and does not affect the opening of the jackfruit. However, manual core-digging has the disadvantages of high labor intensity and low labor efficiency, and the time required to complete the core-digging is different according to the skill level. Generally, it takes 10 minutes for a skilled worker to complete the core-digging.

[0003] The automatic core-digging technology of jackfruit based on machine vision is a technology that uses machine vision to collect images of the surface of the jackfruit to be core-digged. After the collection is completed, it is uploaded to the industrial computer for data analysis, and then the data of the tool path is output. The technology cooperates with the cross linear module, the rotary motor and the core-digging knife to dig out the core of the jackfruit. This technology can dig out the core according to the actual shape of the core on the surface of the jackfruit, and the core-digging effect is excellent, which can greatly improve the automated production efficiency of jackfruit. Summary of the invention

[0004] In order to solve the above-mentioned problems existing in manual pith digging, the purpose of the present invention is to provide a jackfruit automatic pith digging device and method based on machine vision, so as to solve the problems of high labor intensity and low labor efficiency in the process of manual pith digging, and achieve the effects of automatic loading, automatic positioning, and automatic pith digging, thereby realizing the automation of jackfruit pith digging, so as to improve the automated production efficiency of jackfruit.

[0005] In order to achieve the above object, the technical solution adopted by the present invention to solve its technical problem is:

[0006] A jackfruit automatic core-digging device based on machine vision comprises a light source (1), a cross linear module (2), an inner core fine rotary cutter (3), a conveyor chain (4), a frame (5), a side positioning module (6), a receiving tray (7), a vision module (8), a universal air nozzle (9), a rotating motor (10), an inner core rough scraper (11), an end clamping module (12), and a proximity sensor (13); the conveyor chain (4) is installed on the inner side of the middle of the frame (5) for transporting jackfruit materials to be processed; the receiving tray (7) is installed at the lower part of the frame (5) and comprises two guide troughs with inclined angles and a receiving trough; the end clamping module (12) is installed in the middle of the frame (5) and is located on both sides of the jackfruit core-digging station for clamping the ends of the jackfruit; the side positioning module (6) is installed on the frame (5) in the middle, located at the lower side of the jackfruit core digging station, for tightly fitting the side of the jackfruit to achieve the purpose of limiting; the proximity sensor (13) is arranged obliquely and installed on both sides of the core digging station of the frame (5); the cross linear module (2) is installed above the jackfruit core digging station, the rotary motor (10) is installed at the bottom of the Z axis of the cross linear module, the inner core fine rotary cutter (3) and the inner core rough scraper (11) are installed below the rotary motor (10) for digging out the inner core of the jackfruit; the visual module (8) is installed at the top of the frame (5), located directly above the jackfruit core digging station, and the light source (1) is installed on the left and right sides of the visual module; the universal air nozzle (9) is installed on both sides of the middle support of the frame (5), and the air outlet is obliquely downward pointing to the jackfruit processing station, for blowing off the inner core waste generated during the core digging process.

[0007] Furthermore, the conveyor chain (4) is a chain conveyor belt installed on both sides, and a plurality of pairs of triangular limit blocks are installed on the conveyor chain (4), and proximity sensor induction blocks (14) are installed on the triangular limit blocks. When the jackfruit is loaded into the processing station, the limit blocks will not affect the operation of the entire device, and play a role in stabilizing the posture of the jackfruit, and under the interaction between the proximity sensor and the proximity sensor induction block, the jackfruit can enter the processing station one by one.

[0008] Furthermore, the inner core rough scraper (11) comprises a connecting rod (1101), a blade (1102), and a blade (1103), wherein the inner core rough scraper (11) is connected to the rotating motor (10) via the connecting rod (1101); the inner core rough scraper (11) is single-sidedly sharpened and has an arc, wherein the blade (1102) is slightly wider than the blade (1103), and the blade (1103) faces the positive direction of movement of the cross linear module (2), and can cut along the edge of the inner core of the jackfruit, thereby achieving the purpose of rough scraping and removing the inner core.

[0009] Furthermore, the inner core fine rotary cutter (3) comprises a second connecting rod (301), a cutter base (302), and a fine rotary cutter (303). The inner core fine rotary cutter (3) is connected to the rotary motor (10) via the second connecting rod (301). The inner core fine rotary cutter (3) is double-sidedly sharpened. The fine rotary cutter (303) is mounted on the cutter base (302) and has an arc, which can adapt to the high-speed rotation of the rotary motor. The high-speed rotation of the blade is used to get close to the remaining small part of the inner core, thereby achieving the purpose of fine rotary excavation of the inner core.

[0010] Furthermore, the above-mentioned side positioning module (6) includes an arc-shaped positioning block (601), a guide rod (602), a mounting plate (603), a flanged linear bearing (604), a fastening nut (605), and a lifting cylinder (606), wherein the arc-shaped positioning block (601) is supported by four straight rods, the four guide rods (602) are mounted in conjunction with the flanged linear bearing (604), and have multiple mounting holes for mounting on the mounting plate (603), and the fastening nut (605) ensures that the lifting cylinder (606) is tightly fitted with the arc-shaped positioning block mounting seat.

[0011] Furthermore, the above-mentioned end clamping module (12) includes an arc-shaped clamping block (1201), a clamping cylinder (1202), a mounting base (1203), a clamping block mounting hole (1204), and a mounting base mounting hole (1205), wherein the clamping cylinder (1202) has a plurality of mounting holes for matching with the mounting base (1203) for mounting, the arc-shaped clamping block (1201) is fastened and mounted with the clamping cylinder (1202) by means of the clamping block mounting hole (1204), and the mounting base (1203) and the frame (5) are matched with each other by means of the mounting base mounting hole (1205).

[0012] The beneficial effects of the present invention are:

[0013] 1) The present invention uses a triangular blocking block to limit the incoming material of the jackfruit, so that the jackfruit will not flip, rotate or deviate on the conveyor belt, which will affect the processing, and can enter the processing station one by one according to the incoming material posture.

[0014] 2) The present invention uses a set of special coarse scrapers and fine rotary cutters to remove the inner core of the jackfruit. The inner core coarse scraper can remove most of the inner core of the jackfruit, and the inner core fine rotary cutter can accurately remove the inner core of the jackfruit. The two work together to completely remove the inner core.

[0015] 3) The present invention adopts the method of side limiting and end clamping to completely fix the jackfruit at the processing station without moving.

[0016] 4) The automatic jackfruit core-digging method based on machine vision adopted by the present invention can realize the automation of the jackfruit core-digging process, and use machine vision in conjunction with automated equipment to achieve high-efficiency core-digging work, greatly reducing manual labor intensity and improving efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a schematic diagram of the overall structure of the present invention.

[0018] Figure 2 It is a schematic diagram of the side positioning module of the present invention.

[0019] Figure 3 It is a schematic diagram of the end clamping module of the present invention.

[0020] Figure 4 , Figure 5 Schematic diagram of the tool used for rough scraping and fine spinning of the inner core of the present invention.

[0021] Figure 6 Schematic diagram of the relative positions of the visual components and light source components used in the present invention.

[0022] Figure 7-10 The process of image processing performed by the visual processing module of the present invention. DETAILED DESCRIPTION

[0023] The structural principle and working principle of the present invention are further described in detail below in conjunction with the accompanying drawings.

[0024] like Figure 1As shown, the present invention provides a jackfruit automatic core-digging device based on machine vision, comprising a light source (1), a cross line module (2), an inner core fine rotary cutter (3), a conveyor chain (4), a frame (5), a side positioning module (6), a receiving tray (7), a visual module (8), a universal air nozzle (9), a rotating motor (10), an inner core rough scraper (11), an end clamping module (12), and a proximity sensor (13); the conveyor chain (4) is installed on the inner middle side of the frame (5) for transporting jackfruit materials to be processed; the receiving tray (7) is installed at the lower part of the frame (5), and comprises two guide troughs with inclined angles and a receiving trough; the end clamping module (12) is installed in the middle part of the frame (5), located on both sides of the jackfruit core-digging station, and is used to clamp the ends of the jackfruit; the side positioning module (6) The device is installed in the middle of the frame (5) and is located at the lower side of the jackfruit core digging station, and is used to fit the side of the jackfruit tightly to achieve the purpose of limiting. The proximity sensor (13) is arranged obliquely and is installed on both sides of the core digging station of the frame (5). The cross linear module (2) is installed above the jackfruit core digging station, and the rotary motor (10) is installed at the bottom of the Z axis of the cross linear module. The inner core fine rotary cutter (3) and the inner core rough scraper (11) are installed below the rotary motor (10) and are used to dig out the inner core of the jackfruit. The visual module (8) is installed at the top of the frame (5) and is located directly above the jackfruit core digging station. The light source (1) is installed on the left and right sides of the visual module. The universal air nozzle (9) is installed on both sides of the support member in the middle of the frame (5), and the air outlet is obliquely downwardly directed toward the jackfruit processing station, and is used to blow off the inner core waste generated during the core digging process.

[0025] As a preferred embodiment of the present invention, Figure 2 As shown, the main structure of the side positioning module (6) is composed of an arc-shaped positioning block (601), a guide rod (602), a mounting plate (603), a flanged linear bearing (604), a fastening nut (605), and a lifting cylinder (606), wherein the arc-shaped positioning block (601) is supported by four straight rods, the four guide rods (602) are mounted in conjunction with the flanged linear bearing (604), and have a plurality of mounting holes for mounting on the mounting plate (603), and the fastening nut (605) ensures that the lifting cylinder (606) is tightly matched with the arc-shaped positioning block mounting seat.

[0026] As a preferred embodiment of the present invention, Figure 3As shown, the end clamping module (12) is composed of an arc-shaped clamping block (1201), a clamping cylinder (1202), a mounting base (1203), a clamping block mounting hole (1204), and a mounting base mounting hole (1205), wherein the clamping cylinder (1202) has a plurality of mounting holes for matching with the mounting base (1203) for mounting, the arc-shaped clamping block (1201) is fastened and mounted with the clamping cylinder (1202) by means of the clamping block mounting holes (1204), and the mounting base (1203) and the frame (5) are matched with each other by means of the mounting base mounting holes (1205).

[0027] As a preferred embodiment of the present invention, Figure 4 As shown, the visual module (8) is composed of an industrial camera (802), an industrial lens (803), and a mounting plate (801). The industrial camera (802) and the mounting plate (801) have mounting holes for center-matching installation. Strip-shaped shadowless light sources (101) are installed on both sides of the visual module, and have mounting holes (102) thereon for matching installation with the frame (5).

[0028] As a preferred embodiment of the present invention, the preferred solution for the industrial camera is an area array camera, the preferred solution for the industrial lens is a telecentric lens, and the preferred solution for the light source is a strip-shaped shadowless light source.

[0029] As a preferred embodiment of the present invention, Figure 5 As shown, the inner core rough scraper (11) is composed of a connecting rod (1101) and rough scrapers (1102, 1103), and is installed below the rotating motor (10). It can be reliably connected to the rotating motor through the connecting rod (1101). It is characterized by single-sided blade sharpening with a certain curvature, wherein the blade back (1102) is slightly wider than the blade (1103), and the blade (1103) faces the positive direction of movement of the cross linear module (2), and can cut along the edge of the inner core of the jackfruit, thereby achieving the purpose of rough scraping and digging out the inner core.

[0030] As a preferred embodiment of the present invention, Figure 6 As shown, the inner core fine rotary cutter (3) is composed of a connecting rod (301), a cutter base (302), and a fine rotary cutter (303), and is installed below the rotating motor (10). It can be reliably connected to the rotating motor (10) through the connecting rod (301), and is characterized by double-sided blades. The fine rotary cutter (303) is installed on the cutter base (302) by welding and has a certain curvature, which can adapt to the high-speed rotation of the rotating motor. The high-speed rotation of the blade is used to get close to the remaining small part of the inner core, thereby achieving the purpose of fine rotary excavation of the inner core.

[0031] The automatic core digging device of the present invention adopts the automatic core digging technology of jackfruit based on machine vision, and has different processing methods for image acquisition and image processing according to different workstations. At the rough scraping station, after the image acquisition is completed, it is uploaded to the industrial computer, and the boundary area between the inner core and the skin of the jackfruit is focused on through the visual processing software. Because the inner core and the outer skin have different tissue structures, their approximate boundary line can be obtained through image processing. After processing, an elliptical tool path can be output, and the step feed amount can be set, that is, rough scraping is gradually performed from the edge of the inner core according to the set feed amount, and finally the rough scraping is completed. At the fine spinning station, similar to the rough scraping station, after the image acquisition is completed, it is uploaded to the industrial computer, and the remaining part of the inner core of the jackfruit is focused on through the visual processing software. After image processing, its characteristics are regional irregular shapes, and its edge features can be identified, and then the motion trajectory is output to the cross line module, and the inner core fine spinning knife cooperates to rotate and remove along the edge of the remaining inner core.

[0032] Furthermore, in the first stage of image processing, the color recognition of the flesh (yellow) and the inner core (white) is performed based on the photographed cross-section of the jackfruit, and the processing result is as follows: Figure 7 As shown, the pulp area extraction and the inner core distinction work are preliminarily completed. It should be noted that the inner core is divided into the epidermal inner core and the internal inner core. The part involved in the present invention is the automatic removal of the inner core. Secondly, for the jackfruit inner core picture whose color extraction has been completed in the first stage, after the image filtering operation, the processing result can be obtained as follows Figure 8 As shown, the white inner core (center part) can be completely identified and separated from the yellow flesh part, and the specific outline of the white inner core can be identified; secondly, in order to effectively complete the data output so that the industrial computer can recognize the output data to the cross line module and complete the tool path, the center inner core needs to be highlighted, so the binary operation is adopted, and the processing result is as follows Fig. 9 As shown in FIG. 1 , it can be found that the core part of the center is completely distinguished and displayed, without other parts (such as meat, etc.); finally, the image of the core of the center is analyzed, and the processing results are as follows Fig.10 As shown, the farthest point search method is adopted to confirm the estimated length of the center of the straight line according to the edge points on both sides, and the data point set formed by the edge points on both sides is the path that needs to be cut.

[0033] Combine the following Figure 1 The working process of an automatic core-digging device and method based on machine vision is described.

[0034] When the jackfruit is fed, the triangular blocking limit blocks on the conveyor chain ensure that the jackfruit enter the processing station one by one. When the jackfruit enters the rough scraping station, a pair of proximity sensors (13) confirm that the jackfruit has arrived at the processing station, and then send an arrival signal to the industrial control computer. After receiving the arrival signal, the side positioning module (6) located below the jackfruit will be lifted up by the lifting cylinder, and the arc-shaped positioning block installed on it will achieve a close fit with the side of the jackfruit to achieve the purpose of side positioning. Then the end cylinder extends and relies on the arc-shaped positioning block of the end clamping module (12) to A close fit with the end of the jackfruit is achieved, thereby achieving the purpose of clamping the end, that is, relying on the positioning and clamping of the side and the end, the jackfruit can be completely positioned; the visual module (8) installed above the jackfruit processing station can capture images of the jackfruit surface under the illumination of a strip shadowless light source, and upload the images to the industrial computer. After the industrial computer performs data analysis, the processing data is output to the cross linear module (2) for moving the tool; the first step of rough scraping of the inner core of the jackfruit can be achieved through the rotating motor (10) and the inner core rough scraper (11) installed thereon. After the rough scraping is completed, the positioning of the side and the end of the jackfruit is released, and the jackfruit flows to the next fine spinning station. After the jackfruit arrives at the fine spinning station, the proximity sensor sends an arrival signal, so that the subsequent side positioning, end clamping, image acquisition, and data output are all consistent with the rough scraping station process, but the rotating motor of the fine spinning station is different from the working mode of the rotating motor of the rough scraping station. A high-speed rotation method is used, combined with the inner core fine spinning knife (3) for precise removal. After rough scraping and fine spinning, the inner core of the jackfruit can be removed to a level that does not affect the peeling of the fruit.

[0035] The above description of the present invention and its implementation modes is not intended to limit the present invention. For those skilled in the art, any design, modification, replacement, etc. made within the spirit and principles of the present invention shall fall within the protection scope of the present invention.

Claims

1. A jackfruit automatic core-digging device based on machine vision, characterized in that: The invention comprises a light source (1), a cross linear module (2), an inner core fine rotary cutter (3), a conveyor chain (4), a frame (5), a side positioning module (6), a receiving tray (7), a visual module (8), a universal air nozzle (9), a rotating motor (10), an inner core rough scraper (11), an end clamping module (12), and a proximity sensor (13); the conveyor chain (4) is installed on the inner middle side of the frame (5) for transporting the jackfruit material to be processed; the receiving tray (7) is installed at the lower part of the frame (5), and comprises two guide troughs with inclined angles and a receiving trough; the end clamping module (12) is installed in the middle of the frame (5), located on both sides of the jackfruit core digging station, and is used to clamp the end of the jackfruit; the side positioning module (6) is installed in the middle of the frame (5), located on the jackfruit core digging station The lower side of the jackfruit core digging station is used to fit the side of the jackfruit tightly to achieve the purpose of limiting; the proximity sensor (13) is arranged obliquely and installed on both sides of the core digging station of the frame (5); the cross linear module (2) is installed above the jackfruit core digging station, the rotary motor (10) is installed at the bottom of the Z axis of the cross linear module, the inner core fine rotary knife (3) and the inner core rough scraper (11) are installed below the rotary motor (10) to dig out the inner core of the jackfruit; the visual module (8) is installed on the top of the frame (5) and is located directly above the jackfruit core digging station, and the light source (1) is installed on the left and right sides of the visual module; the universal air nozzle (9) is installed on both sides of the middle support of the frame (5), and the air outlet is obliquely downward pointing to the jackfruit processing station, and is used to blow off the inner core waste generated during the core digging process.

2. A jackfruit automatic core-digging device based on machine vision as claimed in claim 1, characterized in that: The conveyor chain (4) is a chain conveyor belt installed on both sides. A plurality of pairs of triangular limit blocks are installed on the conveyor chain (4). A proximity sensor induction block (14) is installed on the triangular limit blocks. When the jackfruit is loaded into the processing station, the limit blocks will not affect the operation of the entire device, but play a role in stabilizing the posture of the jackfruit. Under the interaction between the proximity sensor and the proximity sensor induction block, the jackfruit can enter the processing station one by one.

3. A jackfruit automatic core-digging device based on machine vision as claimed in claim 1, characterized in that: The inner core rough scraper (11) comprises a connecting rod (1101), a blade (1102), and a blade (1103), and the inner core rough scraper (11) is connected to the rotating motor (10) via the connecting rod (1101); the inner core rough scraper (11) is single-sidedly sharpened and has an arc, wherein the blade (1102) is slightly wider than the blade (1103), and the blade (1103) faces the positive direction of movement of the cross linear module (2), and can cut along the edge of the inner core of the jackfruit, thereby achieving the purpose of rough scraping and digging out the inner core.

4. A jackfruit automatic core-digging device based on machine vision as claimed in claim 1, characterized in that: The inner core fine rotary cutter (3) comprises a second connecting rod (301), a cutter base (302), and a fine rotary cutter (303). The inner core fine rotary cutter (3) is connected to the rotary motor (10) via the second connecting rod (301). The inner core fine rotary cutter (3) is double-sidedly sharpened. The fine rotary cutter (303) is mounted on the cutter base (302) and has an arc, and can adapt to the high-speed rotation of the rotary motor. The high-speed rotation of the blade is used to get close to the remaining small part of the inner core, thereby achieving the purpose of fine rotary excavation of the inner core.

5. The automatic jackfruit core-digging device based on machine vision as claimed in claim 1, characterized in that: The side positioning module (6) comprises an arc-shaped positioning block (601), a guide rod (602), a mounting plate (603), a flanged linear bearing (604), a fastening nut (605), and a lifting cylinder (606), wherein the arc-shaped positioning block (601) is supported by four straight rods, the four guide rods (602) are mounted in cooperation with the flanged linear bearing (604), and have a plurality of mounting holes for mounting on the mounting plate (603), and the fastening nut (605) ensures that the lifting cylinder (606) is tightly matched with the arc-shaped positioning block mounting seat.

6. The automatic jackfruit core-digging device based on machine vision as claimed in claim 1, characterized in that: The end clamping module (12) comprises an arc-shaped clamping block (1201), a clamping cylinder (1202), a mounting base (1203), a clamping block mounting hole (1204), and a mounting base mounting hole (1205), wherein the clamping cylinder (1202) has a plurality of mounting holes for matching with the mounting base (1203) for mounting, the arc-shaped clamping block (1201) is fastened and mounted with the clamping cylinder (1202) by means of the clamping block mounting hole (1204), and the mounting base (1203) and the frame (5) are matched with each other by means of the mounting base mounting hole (1205).

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