Automatic jackfruit core digging device based on machine vision

Abstract

The present application relates to a kind of automatic jackfruit device based on machine vision, including light source, cross straight line module, inner core fine rotary knife, conveying chain, frame, side positioning module, receiving tray, vision module, universal air nozzle, rotary motor, inner core rough scraper, end clamping module, proximity sensor, proximity sensor sensing block.In loading, it can ensure that jackfruit accurately reaches processing station by chain conveyor belt, triangular limit block, proximity sensor;When digging core, image acquisition is carried out on the surface of jackfruit to be dug by using vision module and light source, and data analysis is carried out on industrial computer after acquisition, then cross module tool path data is output, combined with the joint movement of rotary motor, in rough scraping stage, most of jackfruit core can be removed by using rough scraper, in fine rotary stage, jackfruit core is further removed by using fine rotary knife, two processing stations cooperate to dig core, finally reach the degree of not affecting jackfruit opening.

Description

Technical Field

[0001] This invention relates to a machine vision-based automatic jackfruit core removal technology, specifically to a machine vision-based automatic jackfruit core removal device and method. Background Technology

[0002] Jackfruit, a popular fruit in daily life, has a huge consumer demand and a broad market, requiring a strong market supply capacity to ensure supply. Currently, automated jackfruit production has reached a certain scale, but the core removal process remains manual, a laborious and time-consuming task that significantly hinders the efficiency of automated production. Analysis reveals that the internal structure of the jackfruit necessitates the removal of its inner core before it can be opened. This process is typically done manually, with workers using a reciprocating blade to remove most of the core without affecting the fruit's opening. However, manual core removal is labor-intensive and inefficient, and the time required varies depending on skill level; a skilled worker typically takes about 10 minutes to complete the process.

[0003] The machine vision-based automated jackfruit core removal technology uses machine vision to acquire images of the jackfruit surface before the core is removed. After acquisition, the images are uploaded to an industrial control computer for data analysis, which then outputs the tool path data. This data, combined with a cross-shaped linear module, a rotary motor, and a core-removing blade, removes the core from the jackfruit. This technology can remove the core based on its actual shape, achieving excellent results and significantly improving the efficiency of automated jackfruit production. Summary of the Invention

[0004] To address the problems associated with manual jackfruit plucking, this invention aims to provide an automatic jackfruit plucking device and method based on machine vision. This method solves the problems of high labor intensity and low efficiency in manual plucking, achieving automatic feeding, automatic positioning, and automatic plucking, thereby automating jackfruit plucking and improving the efficiency of automated jackfruit production.

[0005] To achieve the above objectives, the technical solution adopted by the present invention to solve its technical problem is as follows:

[0006] An automatic jackfruit core-removing device based on machine vision includes a light source (1), a cross-shaped linear module (2), an inner core fine rotary blade (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 rotary motor (10), an inner core coarse scraper (11), an end clamping module (12), and a proximity sensor (13). The conveyor chain (4) is installed on the inner side of the frame (5) to transport the jackfruit material to be processed. The receiving tray (7) is installed on the lower part of the frame (5) and includes two guide grooves with inclined angles and a receiving groove. The end clamping module (12) is installed in the middle of the frame (5) on both sides of the jackfruit core-removing station to clamp the ends of the jackfruit. The side positioning module (6) is installed on the frame. (5) In the middle, located below the jackfruit core removal station, it is used to tightly fit the side of the jackfruit to achieve the purpose of limiting the position; the proximity sensor (13) is obliquely distributed and installed on both sides of the core removal station of the frame (5); the cross linear module (2) is installed above the jackfruit core removal 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 coarse scraper (11) are installed below the rotary motor (10) for removing the inner core of the jackfruit; the vision module (8) is installed at the top of the frame (5), located directly above the jackfruit core removal station, and the light source (1) is installed on the left and right sides of the vision module; the universal air nozzle (9) is installed on both sides of the support in the middle 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 removal process.

[0007] Furthermore, the aforementioned conveyor chain (4) is a chain conveyor belt installed on both sides. Several pairs of triangular limit blocks are installed on the conveyor chain (4), and proximity sensor sensing blocks (14) are installed on the triangular limit blocks. During the process of feeding jackfruit to the processing station, the limit blocks will not affect the operation of the entire device, and will play a role in stabilizing the posture of the jackfruit. Under the interaction between the proximity sensor and the proximity sensor sensing block, it can be made to enter the processing station one by one.

[0008] Furthermore, the aforementioned inner core coarse scraper (11) includes a connecting rod (1101), a blade back (1102), and a blade edge (1103). The inner core coarse scraper (11) is connected to the rotary motor (10) through the connecting rod (1101). The inner core coarse scraper (11) is single-edged and has an arc. The blade back (1102) is slightly wider than the blade edge (1103), and the blade edge (1103) faces the positive direction of the cross-shaped linear module (2) and can cut along the edge of the jackfruit inner core, thereby achieving the purpose of coarsely scraping and removing the inner core.

[0009] Furthermore, the aforementioned inner core fine-spinning cutter (3) includes a connecting rod two (301), a cutter base (302), and a fine-spinning cutter (303). The inner core fine-spinning cutter (3) is connected to the rotary motor (10) through the connecting rod two (301). The inner core fine-spinning cutter (3) is double-edged. The fine-spinning cutter (303) is mounted on the cutter base (302) and has an arc shape, which can be adapted to the high-speed rotation of the rotary motor. The high-speed rotation of the blade is used to approach the remaining small part of the inner core, thereby achieving the purpose of fine-spinning to remove the inner core.

[0010] Furthermore, the aforementioned 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). The arc-shaped positioning block (601) is supported by four straight rods, and the four guide rods (602) are installed in conjunction with the flanged linear bearing (604) and have multiple mounting holes for installation on the mounting plate (603). The fastening nut (605) ensures that the lifting cylinder (606) is tightly fitted with the arc-shaped positioning block mounting seat.

[0011] Furthermore, the aforementioned 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). The clamping cylinder (1202) has several mounting holes that cooperate with the mounting base (1203) for installation. The arc-shaped clamping block (1201) is fastened to the clamping cylinder (1202) by means of the clamping block mounting hole (1204). The mounting base (1203) and the frame (5) are installed by means of the mounting base mounting hole (1205).

[0012] The beneficial effects of this invention are:

[0013] 1) This invention uses triangular blocking blocks to restrict the incoming jackfruit, preventing it from flipping, rotating, or shifting on the conveyor belt and thus affecting processing. The jackfruit can enter the processing station one by one according to its incoming posture.

[0014] 2) This invention uses a special set of coarse scrapers and fine rotary blades to remove the inner pistil of jackfruit. The coarse scraper can remove most of the inner pistil of jackfruit, while the fine rotary blade can precisely remove the inner pistil. The two work together to achieve complete removal of the inner pistil.

[0015] 3) The present invention uses a side limiting and end clamping method to completely fix the jackfruit in the processing station and prevent it from moving.

[0016] 4) The machine vision-based automatic jackfruit pruning method adopted in this invention can automate the jackfruit pruning process. By using machine vision in conjunction with automated equipment, the pruning work can be carried out with high efficiency, greatly reducing the intensity of manual labor and improving efficiency. Attached Figure Description

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

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

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

[0020] Figure 4 , Figure 5 This is a schematic diagram of the cutting tools used for rough scraping and fine turning of the inner core in this invention.

[0021] Figure 6 This is a schematic diagram showing the relative positions of the visual components and light source assembly used in this invention.

[0022] Figures 7-10 This describes the image processing process performed by the visual processing module of this invention. Detailed Implementation

[0023] The structural and working principles of the present invention will be further described in detail below with reference to the accompanying drawings.

[0024] like Figure 1As shown, this invention provides an automatic jackfruit core-removing device based on machine vision, including a light source (1), a cross-shaped linear module (2), an inner core fine rotary blade (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 rotary motor (10), an inner core coarse scraper (11), an end clamping module (12), and a proximity sensor (13). The conveyor chain (4) is installed on the inner side of the frame (5) to transport the jackfruit material to be processed. The receiving tray (7) is installed on the lower part of the frame (5) and includes two guide grooves with inclined angles and a receiving groove. The end clamping module (12) is installed in the middle of the frame (5) on both sides of the jackfruit core-removing station to achieve clamping of the ends of the jackfruit. The side positioning module (6) The frame (5) is installed in the middle, below the jackfruit core removal station, to ensure close contact with the sides of the jackfruit and achieve the purpose of positioning; the proximity sensor (13) is obliquely distributed and installed on both sides of the core removal station of the frame (5); the cross-shaped linear module (2) is installed above the jackfruit core removal station, the rotary motor (10) is installed at the bottom of the Z-axis of the cross-shaped linear module, the inner core fine rotary knife (3) and the inner core coarse scraper (11) are installed below the rotary motor (10) for removing the inner core of the jackfruit; the vision module (8) is installed at the top of the frame (5), directly above the jackfruit core removal station, and the light source (1) is installed on the left and right sides of the vision module; the universal air nozzle (9) is installed on both sides of the support in the middle of the frame (5), with the air outlet pointing obliquely downwards towards the jackfruit processing station, for blowing off the inner core waste generated during the core removal process.

[0025] As a preferred embodiment of the present invention, such as Figure 2 As shown, the main structure of the side positioning module (6) consists 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). The arc-shaped positioning block (601) is supported by four straight rods. The four guide rods (602) are installed in conjunction with the flanged linear bearing (604) and have multiple mounting holes for installation on the mounting plate (603). The fastening nut (605) ensures that the lifting cylinder (606) and the arc-shaped positioning block mounting base are tightly fitted.

[0026] As a preferred embodiment of the present invention, such as Figure 3As shown, the end clamping module (12) consists 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). The clamping cylinder (1202) has several mounting holes that cooperate with the mounting base (1203) for installation. The arc-shaped clamping block (1201) is fastened to the clamping cylinder (1202) by means of the clamping block mounting hole (1204). The mounting base (1203) and the frame (5) are installed by means of the mounting base mounting hole (1205).

[0027] As a preferred embodiment of the present invention, such as Figure 4 As shown, the vision module (8) consists 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-fitting installation. Strip-shaped shadowless light sources (101) are installed on both sides of the vision module, and they have mounting holes (102) for fitting with the frame (5).

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

[0029] As a preferred embodiment of the present invention, such as Figure 5 As shown, the inner core coarse scraper (11) consists of a connecting rod (1101) and coarse scrapers (1102, 1103), and is installed below the rotary motor (10). It can be reliably connected to the rotary motor through the connecting rod (1101). Its features are single-sided cutting edge with a certain curvature. The back of the blade (1102) is slightly wider than the blade (1103), and the blade (1103) faces the positive direction of the cross-shaped linear module (2) and can cut along the edge of the jackfruit inner core, thereby achieving the purpose of coarse scraping and removing the inner core.

[0030] As a preferred embodiment of the present invention, such as Figure 6 As shown, the inner core fine-rotating cutter (3) consists of a connecting rod (301), a cutter base (302), and a fine-rotating cutter (303). It is installed below the rotary motor (10) and can be reliably connected to the rotary motor (10) through the connecting rod (301). Its feature is that it is double-edged. The fine-rotating cutter (303) is welded to the cutter base (302) and has a certain curvature, which can be adapted to the high-speed rotation of the rotary motor. By using the high-speed rotation of the blade to get close to the remaining small part of the inner core, the purpose of fine-rotating and removing the inner core can be achieved.

[0031] This invention's automatic pruning device employs machine vision-based automatic pruning technology for jackfruit, involving image acquisition and processing. Different processing methods are used depending on the workstation. At the rough scraping station, after image acquisition, the image is uploaded to the industrial control computer. The vision processing software focuses on the boundary area between the jackfruit's inner pistil and outer skin. Because the inner pistil and outer skin have different tissue structures, their approximate boundary line can be obtained through image processing. After processing, an elliptical cutting path is output, and a stepped feed rate is set, meaning that the rough scraping gradually proceeds from the edge of the inner pistil according to the set feed rate, ultimately completing the rough scraping. At the fine rotating station, similar to the rough scraping station, after image acquisition, the image is uploaded to the industrial control computer. The vision processing software focuses on the remaining part of the jackfruit's inner pistil. After image processing, its characteristic is a regional irregular shape, and its edge features can be identified. The motion trajectory is then output to the cross-shaped linear module, which, together with the inner pistil fine rotating blade, rotates and removes the remaining inner pistil along its edge.

[0032] Furthermore, in the first stage of image processing, based on the photographed cross-sectional image of the jackfruit, color recognition is performed on its flesh (yellow) and inner core (white), yielding the following processing result: Figure 7 As shown, this initially completes the extraction of the pulp area and the differentiation of the inner core. It should be noted that the inner core is divided into the epidermal inner core and the internal inner core; the part involved in this invention is the automatic removal of the inner core. Secondly, for the jackfruit inner core image where color extraction has been completed in the first stage, image filtering is performed to obtain the processing result as shown below. Figure 8 As shown, this allows for complete identification and separation of the white inner core (center part) from the yellow pulp, and the specific outline of the white inner core can be identified. Secondly, to effectively complete data output so that the industrial control computer can recognize and output data to the crosshair module and complete the cutting process, the central inner core needs to be highlighted. Therefore, a binarization operation is performed, and the processing result is as follows: Figure 9 As shown, the central pistil is completely distinct and does not contain other parts (such as flesh); finally, data analysis was performed on the image of the central pistil, and the processing results are as follows. Figure 10 As shown, the farthest point search method is used to determine the length of the straight line center based on 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 followed by the tool.

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

[0034] When the jackfruit is being fed, the triangular blocking limit blocks on the conveyor chain ensure that each jackfruit enters 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 reached the processing station and then send a positioning signal to the industrial control computer. After receiving the positioning signal, the side positioning module (6) located below the jackfruit will lift it up through the lifting cylinder and achieve a tight fit with the side of the jackfruit through the arc-shaped positioning block installed on it, thus achieving 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 achieve the purpose of side positioning. To achieve a tight fit with the end of the jackfruit, the end is clamped. That is, by relying on the positioning and clamping of the side and end, the jackfruit can be completely positioned. The vision module (8) installed above the jackfruit processing station can collect images of the jackfruit surface under the illumination of the strip shadowless light source and upload the images to the industrial control computer. After the industrial control computer performs data analysis, it outputs processing data to the cross-shaped linear module (2) for moving the cutting tool. The first step of rough scraping of the jackfruit's inner core can be achieved through the rotary motor (10) and the inner core coarse scraper (11) installed on it. After the rough scraping is completed, the positioning of the side and 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 the subsequent side positioning, end clamping, image acquisition, and data output are all consistent with the process of the rough scraping station. However, the rotary motor of the fine spinning station is different from the rotary motor of the rough scraping station. It adopts a high-speed rotation method and combines the inner core fine spinning cutter (3) for precise removal. After two processing steps of coarse scraping and fine turning, the inner core of the jackfruit can be removed to a degree that does not affect the peeling of the fruit.

[0035] The present invention and its embodiments have been described above, but are not intended to limit the present invention. For those skilled in the art, any design, modification, substitution, etc., made within the spirit and principles of the present invention shall be within the protection scope of the present invention.

Claims

1. A machine vision-based automatic jackfruit core-removing device, characterized in that, The system includes a light source (1), a cross-shaped 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 rotary motor (10), an inner core coarse scraper (11), an end clamping module (12), and a proximity sensor (13). The conveyor chain (4) is installed on the inner side of the frame (5) to transport the jackfruit material to be processed. The receiving tray (7) is installed on the lower part of the frame (5) and includes two guide grooves with inclined angles and a receiving groove. The end clamping module (12) is installed in the middle of the frame (5) and located on both sides of the jackfruit core removal station to clamp the ends of the jackfruit. The side positioning module (6) is installed in the middle of the frame (5) and located on both sides of the jackfruit core removal station to clamp the ends of the jackfruit. The lower side of the jackfruit core removal station is used to tightly fit the side of the jackfruit to achieve the purpose of limiting the position; the proximity sensor (13) is obliquely distributed and installed on both sides of the core removal station of the frame (5); the cross linear module (2) is installed above the jackfruit core removal 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 coarse scraper (11) are installed below the rotary motor (10) for removing the inner core of the jackfruit; the vision module (8) is installed on the top of the frame (5) and located directly above the jackfruit core removal station, and the light source (1) is installed on the left and right sides of the vision 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 removal process.

2. The automatic jackfruit core-removing device based on machine vision as described in claim 1, characterized in that, The conveyor chain (4) is a chain conveyor belt installed on both sides. Several pairs of triangular limit blocks are installed on the conveyor chain (4). A proximity sensor sensing block (14) is installed on the triangular limit block. During the process of feeding jackfruit to the processing station, the limit block will not affect the operation of the entire device and will play a role in stabilizing the posture of the jackfruit. Under the interaction of the proximity sensor and the proximity sensor sensing block, it can be made to enter the processing station one by one.

3. The automatic jackfruit core-removing device based on machine vision as described in claim 1, characterized in that, The inner core coarse scraper (11) includes a connecting rod (1101), a blade back (1102), and a blade edge (1103). The inner core coarse scraper (11) is connected to the rotary motor (10) through the connecting rod (1101). The inner core coarse scraper (11) is single-edged and has an arc. The blade back (1102) is slightly wider than the blade edge (1103), and the blade edge (1103) faces the positive direction of the cross-shaped linear module (2) and can cut along the edge of the jackfruit inner core, thereby achieving the purpose of coarsely scraping and removing the inner core.

4. The automatic jackfruit core-removing device based on machine vision as described in claim 1, characterized in that, The inner core fine-spinning cutter (3) includes a connecting rod two (301), a cutter base (302), and a fine-spinning cutter (303). The inner core fine-spinning cutter (3) is connected to the rotary motor (10) through the connecting rod two (301). The inner core fine-spinning cutter (3) is double-edged. The fine-spinning cutter (303) is mounted on the cutter base (302) and has an arc shape, which can be adapted 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-spinning to remove the inner core.

5. The automatic jackfruit core-removing device based on machine vision as described in claim 1, characterized in that, The 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). The arc-shaped positioning block (601) is supported by four straight rods. The four guide rods (602) are installed in conjunction with the flanged linear bearing (604) and have multiple mounting holes for installation on the mounting plate (603). The fastening nut (605) ensures that the lifting cylinder (606) is tightly fitted with the arc-shaped positioning block mounting seat.

6. The automatic jackfruit core-removing device based on machine vision as described in claim 1, characterized in that, The 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). The clamping cylinder (1202) has several mounting holes that cooperate with the mounting base (1203) for installation. The arc-shaped clamping block (1201) is fastened to the clamping cylinder (1202) by means of the clamping block mounting hole (1204). The mounting base (1203) and the frame (5) are installed by means of the mounting base mounting hole (1205).

Images