Intelligent fruit quality detection device for use on a production line

Abstract

The present application belongs to the field of intelligent agricultural facilities, and specifically provides a fruit quality intelligent detection device for a production line, which comprises a reflector and an industrial camera arranged at a detection point of the production line. The industrial camera is used for oblique shooting of the fruit and the reflector behind the fruit, so as to increase the effective shooting area and imaging field of view of the industrial camera and correct image distortion. The present application expands the imaging field of view of a single industrial camera through optical refraction of the reflector, greatly reduces the number of cameras, avoids the structural defects of multi-camera picture superposition collection from the source, saves the multi-lens image splicing process, effectively eliminates the distortion accumulation problem caused by the parameter difference of multiple cameras, significantly reduces the splicing error and imaging distortion, and reduces the cost.

Description

Technical Field

[0001] This invention relates to the field of intelligent agricultural facilities, specifically to an intelligent quality detection device for fruits on an assembly line. Background Technology

[0002] Improving the shape and appearance of agricultural products with irregular features on the production line by taking multi-angle photos and stitching them into a 3D model using algorithms, then comparing their shape, size, and appearance features in 3D space, is a crucial technical step for rapid screening and anti-counterfeiting identification of agricultural products. Agricultural products have irregular shapes and appearances, and their positions on the production line are uncertain. Fixed industrial cameras have physical limitations in pixel imaging, making it difficult to simultaneously cover multiple perspectives and achieve usable high-quality single images; robotic arms driving industrial cameras are time-consuming and unsuitable for the fast pace of production lines.

[0003] For example, Chinese utility model patent application number 201821040913.6 relates to a visual inspection and grading device for fruit quality. The device is described as follows: "Each group of camera components includes three or more camera components, and each camera component in the first group of camera components is respectively installed on the left and right sides and above the conveyor belt." It can be seen that it mainly solves the problem of narrow field of view of the camera by stacking multiple cameras. However, the technical problems of the solution are: first, the cost of increasing the number of cameras to expand the field of view is high; second, in order to restore the appearance of the fruit, a large number of appearance images are collected, and the parameters of each lens are inconsistent, resulting in imaging defects such as distortion superposition and low stitching accuracy. It also has multiple shortcomings such as high cost, non-adjustable structure, weak versatility, and poor long-term stability. In contrast, the single-camera optical field of view expansion + floating posture adjustment coaxial mounting structure of this application completely overcomes all the above-mentioned drawbacks.

[0004] This application abandons the multi-camera stacking scheme and adopts a single camera with reflector optical compensation to expand the field of view; at the same time, a fixed plate and a regular polygonal motion plate are set to float and adjust the attitude through a linkage assembly. The center of gravity of the cylindrical camera is installed coaxially with the center of the motion plate, and the edge field of view distortion is corrected and controlled to within 1.5% through the mirror optical path, thus overcoming the defects of the prior art that have a large number of cameras, no precise attitude adjustment, and uncontrollable imaging distortion. Summary of the Invention

[0005] In order to avoid and overcome the technical problems existing in the prior art, the present invention provides an intelligent detection device for fruit quality on production lines that reduces the number of imaging cameras used, effectively controls the degree of distortion, has a simple structure, and is low in cost.

[0006] To achieve the above objectives, the present invention provides the following technical solution: This invention provides an intelligent fruit quality detection device for production lines, including a reflector and an industrial camera located at the detection point on the production line. The industrial camera is used to tilt and photograph the fruit and the reflector directly behind the fruit to increase the effective shooting area and imaging field of view of the industrial camera and correct image distortion.

[0007] According to one embodiment of the present invention, a plurality of industrial cameras are provided; a frustum component is provided at each detection point on the production line, and a top hollow frame is provided parallel above the frustum component; the same number of support columns as the number of industrial cameras are provided between the top hollow frame and the frustum component; each industrial camera is movably and correspondingly suspended on the top hollow frame near the support column; the same number of reflectors are provided as the number of industrial cameras, and each reflector is obliquely installed at the bottom end of each support column.

[0008] According to one embodiment of the present invention, the device further includes multiple pairs of fixed plates and moving plates arranged vertically opposite each other, the same number as the number of industrial cameras. Each fixed plate is fixed to the top hollow frame in a corresponding manner. The industrial camera is fixed to the moving plate. The fixed plate is movably connected to the moving plate through multiple movable connection structures to control the three-dimensional movement of the industrial camera.

[0009] According to one embodiment of the present invention, the motion plate is substantially a regular polygonal symmetrical plate, and the ends of each of the movable connecting structures are connected one-to-one to the vertex positions of the regular polygonal symmetrical plate.

[0010] According to one embodiment of the present invention, the movable connection structure includes a motor mounting bracket fixedly mounted on the fixed plate, a motor fixedly mounted on the motor mounting bracket, a motor connecting rod fixedly connected to the working shaft of the motor, a movable connecting rod hinged to the centrifugal end of the motor connecting rod, and the bottom end of the movable connecting rod connected to the vertex position of the moving plate through a spherical hinge.

[0011] According to one embodiment of the present invention, the motion plate is substantially in the shape of an equilateral triangular symmetrical plate.

[0012] According to one embodiment of the present invention, a through hole is provided at the center of the motion plate so that the industrial camera is fixedly inserted therethrough. The industrial camera is substantially cylindrical so that the center axis of gravity of the industrial camera is coaxial with the central geometric axis of the motion plate.

[0013] According to one embodiment of the present invention, the frustum component includes two semi-frustums symmetrically arranged on both sides of the detection point of the production line.

[0014] According to one embodiment of the present invention, the reflector is a high-reflectivity optical plane mirror.

[0015] According to one embodiment of the present invention, the device further includes a near-infrared and multi-wavelength optical sensor, a hyperspectral imaging device, and an X-ray machine disposed on one of the semicircular platforms, and an X-ray imaging plate opposite to the X-ray machine mounted on the other semicircular platform; the hyperspectral imaging device is used for predicting appearance defects, lesions, maturity, and some internal components; the near-infrared and multi-wavelength optical sensor is used for estimating sweetness and crispness without damaging the fruit; the hyperspectral imaging device is used for detecting appearance defects, lesions, maturity, and internal component parameters of the fruit; and the X-ray machine is used for detecting internal structural defects of the fruit.

[0016] Compared with the prior art, the beneficial effects of the present invention are: (1) This invention expands the imaging field of a single industrial camera by using the optical refraction of a reflector, which greatly reduces the number of cameras deployed; it avoids the structural defects of multiple camera images superimposed and collected from the root, eliminates the multi-lens image stitching process, effectively eliminates the distortion accumulation problem caused by the difference in parameters of multiple cameras, significantly reduces stitching error and imaging distortion, and reduces costs at the same time. (2) The present invention also uses a linkage assembly to link a regular polygonal motion plate to form a multi-degree-of-freedom fine-tuning mechanism; the attitude and position of the industrial camera can be flexibly adjusted according to the on-site installation deviation, mirror reflection tilt angle and actual optical path angle changes, and the secondary alignment correction and supplementary lighting imaging are completed in conjunction with the reflected optical path. By compensating for the optical deviation caused by non-parallel incident light through mechanical fine-tuning, and combining the secondary calibration shooting of the viewing angle, the residual distortion is accurately corrected, further eliminating the imaging error caused by the optical path deviation, and greatly improving the imaging consistency and detection accuracy.

[0017] (3) Compared with the traditional design of existing technology that relies on flipping the fruit for reshooting and fixing the camera without adjustment, the present invention does not require the fruit to be flipped and adjusted. The shooting angle and position can be adaptively changed through the camera linkage posture adjustment mechanism, which can adapt to the fruit to be tested in any position on the production line, making the operation process simpler and more efficient. At the same time, the whole machine has a simple structure, high integrity, and is easy to disassemble and assemble. In case of failure, it can be quickly replaced as a whole, which greatly shortens the maintenance time, reduces downtime losses, and effectively ensures the continuous and stable operation of the production line and the overall production efficiency. Attached Figure Description

[0018] Figure 1 This is a schematic diagram of the overall structure of the present invention; Figure 2 This is a schematic diagram of the structure of the frustum component in this invention; Figure 3 This is a schematic diagram of the installation of the industrial camera in this invention.

[0019] In the diagram: 1. Frustum component; 2. Production line; 3. Fruit; 4. Reflector; 5. Fixing plate; 6. Near-infrared and multi-wavelength optical sensor; 7. Hyperspectral imaging equipment; 8. X-ray machine; 9. X-ray machine imaging plate; 10. Semi-frustum; 11. Support column; 12. Top hollow frame; 14. Motor mounting bracket; 15. Motor; 16. Motor connecting rod; 17. Movable connecting rod; 18. Spherical hinge; 19. Motion plate; 20. Industrial camera. Detailed Implementation

[0020] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0021] Example 1

[0022] like Figure 1 and Figure 2 As shown, this embodiment includes a reflector 4 and an industrial camera 20 located at the detection point of the production line 2. The industrial camera 20 is used to tilt and photograph the fruit 3 and the reflector 4 directly behind the fruit 3 to increase the effective shooting area and imaging field of view of the industrial camera 20 and correct image distortion. Multiple industrial cameras 20 are provided. A frustum component 1 is provided at the detection point of the production line 2. A top hollow frame 12 is arranged parallel above the frustum component 1. The same number of support columns 11 as the number of industrial cameras 20 are provided between the top hollow frame 12 and the frustum component 1. Each industrial camera 20 is movably and correspondingly suspended on the top hollow frame 12 near the support column 11. The number of reflectors 4 is the same as that of the industrial cameras 20. Each reflector 4 is tilted and installed at the bottom end of each support column 11. The frustum component 1 includes two semi-frustums 10 symmetrically arranged on both sides of the detection point of the production line 2. The reflector 4 is a high-reflectivity optical plane mirror.

[0023] This embodiment also includes a near-infrared and multi-wavelength optical sensor 6, a hyperspectral imaging device 7, and an X-ray machine 8 disposed on one of the semicircular truncated cones 10, and an X-ray imaging plate 9 opposite to the X-ray machine 8 mounted on the other semicircular truncated cone 10; the hyperspectral imaging device 7 is used to predict appearance defects, lesions, maturity, and some internal components; the near-infrared and multi-wavelength optical sensor 6 is used to estimate the sweetness and crispness without damaging the fruit 3; the hyperspectral imaging device 7 is used to detect appearance defects, lesions, maturity, and internal component parameters of the fruit 3; and the X-ray machine 8 is used to detect internal structural defects of the fruit 3.

[0024] In this embodiment, the industrial camera 20 is mounted on the top hollow frame 12 via a conventional mechanical arm. Therefore, the working principle of this embodiment is as follows: After the production line 2 transports the fruit 3 to be tested to the inspection point, the industrial camera 20 tilts to take pictures. In addition to directly photographing the side of the fruit 3 facing itself, it can also obtain images of the other sides of the fruit 3 through refraction by the tilted reflector 4 at the rear. A single shot can cover the appearance information of the fruit 3 from multiple angles, and the amount of information contained in a single shot is large. There is no need to flip the fruit 3 to re-photograph the other sides, which is suitable for the rapid inspection cycle of the production line 2. During the inspection process, the shooting angle of the industrial camera 20 can be flexibly adjusted according to the actual placement position of the fruit 3 to compensate for optical path deviations, correct imaging distortion, ensure imaging accuracy, and meet the inspection needs of fruits 3 of different sizes and placement postures. Combined with various types of sensor detection equipment, it can simultaneously complete multi-dimensional quality inspections of fruit appearance defects, internal components, internal damage, etc., resulting in higher inspection efficiency and accuracy, and lower overall equipment cost.

[0025] Example 2

[0026] like Figure 3 As shown, the difference from Embodiment 1 is that this embodiment provides a preferred mounting method for the industrial camera 20.

[0027] This embodiment includes multiple pairs of fixed plates 5 and moving plates 19, the same number as the industrial camera 20, arranged vertically opposite each other. Each fixed plate 5 is fixed to the top hollow frame 12, and the industrial camera 20 is fixed to the moving plate 19. The fixed plates 5 are movably connected to the moving plates 19 through multiple movable connection structures to control the three-dimensional movement of the industrial camera 20. The moving plate 19 is basically a regular polygonal symmetrical plate, and the ends of each movable connection structure are connected to the vertices of the regular polygonal symmetrical plate. The movable connection structure includes a motor mounting bracket 14 fixedly installed on the fixed plate 5, a motor 15 fixedly installed on the motor mounting bracket 14, a motor connecting rod 16 fixedly connected to the working shaft of the motor 15, a movable connecting rod 17 hinged to the centrifugal end of the motor connecting rod 16, and the bottom end of the movable connecting rod 17 connected to the vertices of the moving plate 19 through a ball hinge 18. The moving plate 19 is basically an equilateral triangular symmetrical plate. The motion plate 19 has a through hole at its center so that the industrial camera 20 can be fixedly inserted therein. The industrial camera 20 is basically cylindrical so that the center axis of gravity of the industrial camera 20 is coaxial with the central geometric axis of the motion plate 19.

[0028] The working principle of this embodiment is as follows: When the industrial camera 20 needs angle adjustment, the linkage assembly can work together to drive the motion plate 19 to adjust the industrial camera 20's posture in multiple degrees of freedom: after the motor 15 at the corresponding vertex is started, it will drive the motor linkage 16 to rotate, which in turn will push the movable linkage 17 to move up and down. With the rotational freedom of the spherical hinge 18, the motion plate 19 can be driven to change its tilt angle and position, thereby precisely adjusting the shooting posture of the industrial camera 20 and mechanically compensating for the distortion caused by the mirror optical path, keeping the overall imaging distortion within an extremely low range. The coaxial mounting design of the industrial camera's center of gravity and the center of the motion plate also makes the motion plate more evenly stressed. The uniform force distribution ensures a smoother adjustment process, preventing structural aging and displacement caused by uneven stress over long-term use. This further enhances the overall long-term stability of the equipment. Combined with the added near-infrared sensor, hyperspectral imaging equipment, and X-ray machine, it can complete the collection and detection of multi-dimensional quality parameters of fruits in one go. The detection process is simple and efficient, the detection results are more accurate, and the equipment modification cost and maintenance difficulty are lower, making it suitable for the rapid detection needs of production lines. The 20 coaxially aligned industrial cameras can eliminate eccentric loads and overturning moments, ensuring that the mechanism is subjected to balanced forces and runs smoothly during multi-degree-of-freedom adjustment, avoiding optical reference offset, and ensuring the accuracy of optical path calibration and the stability of distortion control.

[0029] The basic principles of this application have been described above with reference to specific embodiments. However, it should be noted that the advantages, benefits, and effects mentioned in this application are merely examples and not limitations, and should not be considered as essential features of each embodiment of this application. Furthermore, the specific details disclosed above are for illustrative and facilitative purposes only, and are not limitations. These details do not limit the application to the necessity of employing the aforementioned specific details for implementation.

[0030] The block diagrams of devices, apparatuses, devices, and systems involved in this application are merely illustrative examples and are not intended to require or imply that they must be connected, arranged, or configured in the manner shown in the block diagrams. As those skilled in the art will recognize, these devices, apparatuses, devices, and systems can be connected, arranged, and configured in any manner. Words such as “comprising,” “including,” “having,” etc., are open-ended terms meaning “including but not limited to,” and are used interchangeably with them. The terms “or” and “and” as used herein refer to the terms “and / or,” and are used interchangeably with them unless the context clearly indicates otherwise. The term “such as” as used herein refers to the phrase “such as but not limited to,” and is used interchangeably with it.

Claims

1. A smart quality detection device for fruits on an assembly line, characterized in that, It includes a reflector (4) and an industrial camera (20) located at the detection point of the production line (2). The industrial camera (20) is used to take pictures of the fruit (3) and the reflector (4) directly behind the fruit (3) at an angle, so as to increase the effective shooting area and imaging field of view of the industrial camera (20) and correct image distortion.

2. The intelligent fruit quality detection device for a production line according to claim 1, characterized in that, Multiple industrial cameras (20) are provided; a frustum component (1) is provided at the detection point of the production line (2), and a top hollow frame (12) is provided parallel above the frustum component (1). The same number of support columns (11) as the number of industrial cameras (20) are provided between the top hollow frame (12) and the frustum component (1). Each industrial camera (20) is movably and correspondingly suspended on the top hollow frame (12) near the support column (11); the number of reflectors (4) is the same as that of the industrial cameras (20), and each reflector (4) is obliquely installed at the bottom of each support column (11).

3. The intelligent fruit quality detection device for a production line according to claim 2, characterized in that, It also includes multiple pairs of fixed plates (5) and moving plates (19) arranged vertically opposite each other, the same number as the industrial camera (20). Each fixed plate (5) is fixed to the top hollow frame (12) in a corresponding manner. The industrial camera (20) is fixed to the moving plate (19). The fixed plate (5) is movably connected to the moving plate (19) through multiple movable connection structures to control the three-dimensional movement of the industrial camera (20).

4. The intelligent fruit quality detection device for a production line according to claim 3, characterized in that, The motion plate (19) is basically a regular polygonal symmetrical plate, and the ends of each of the movable connection structures are connected to the vertices of the regular polygonal symmetrical plate.

5. A smart fruit quality detection device for a production line according to claim 3 or 4, characterized in that, The movable connection structure includes a motor mounting bracket (14) fixedly installed on the fixed plate (5), a motor (15) fixedly installed on the motor mounting bracket (14), a motor connecting rod (16) fixedly connected to the working shaft of the motor (15), a movable connecting rod (17) hinged to the centrifugal end of the motor connecting rod (16), and the bottom end of the movable connecting rod (17) connected to the vertex position of the moving plate (19) through a ball hinge (18).

6. A smart fruit quality detection device for a production line according to claim 3 or 4, characterized in that, The motion board (19) is basically a symmetrical equilateral triangle.

7. A smart fruit quality detection device for a production line according to claim 3 or 4, characterized in that, The motion plate (19) has a through hole at its center so that the industrial camera (20) can be fixedly inserted therein. The industrial camera (20) is basically cylindrical so that the center axis of gravity of the industrial camera (20) is coaxial with the central geometric axis of the motion plate (19).

8. The intelligent fruit quality detection device for a production line according to claim 3, characterized in that, The frustum component (1) includes two semi-frustums (10) symmetrically arranged on both sides of the detection point of the production line (2).

9. The intelligent fruit quality detection device for a production line according to claim 1, characterized in that, The reflector (4) is a high-reflectivity optical plane mirror.

10. The intelligent fruit quality detection device for a production line according to claim 8, characterized in that, It also includes a near-infrared and multi-wavelength optical sensor (6), a hyperspectral imaging device (7), and an X-ray machine (8) mounted on one of the semicircular stages (10), and an X-ray imaging plate (9) opposite to the X-ray machine (8) mounted on the other semicircular stage (10); the hyperspectral imaging device (7) is used to predict appearance defects, lesions, maturity, and some internal components; the near-infrared and multi-wavelength optical sensor (6) is used to estimate the sweetness and crispness without damaging the fruit (3); the hyperspectral imaging device (7) is used to detect appearance defects, lesions, maturity, and internal component parameters of the fruit (3); the X-ray machine (8) is used to detect internal structural defects of the fruit (3).

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