Sorting system based on machine vision
By introducing machine vision modules and optimized push rod structures into the fruit sorting system, the problem of manual sorting labor and machine sorting damage caused by fruit skin is solved, and efficient, accurate screening and grading and quality protection of fruits are achieved.
Patent Information
- Application Number
- CN202421781688.7
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-07-26
- Publication Date
- 2025-05-27
- Estimated Expiration
- 2034-07-26
AI Technical Summary
In the existing fruit sorting technology, manual sorting is laborious and can easily lead to damage to the fruit skin. The push rod reset movement during machine sorting can easily clamp and crush the fruit.
Design a sorting system based on machine vision, combined with the optimization of the push rod structure, the machine vision module takes pictures of the fruit diameter with the pre-stored pictures, control the electric push rod to push the unqualified fruits, and prevent the fruit from being stuck through the rubber belt limit.
It realizes efficient and accurate screening and grading of fruits, avoiding the damage caused by the push plate during the sorting process, and improving the sorting efficiency and the quality of the fruit.
Smart Images
Figure CN222901844U_ABST
Abstract
Description
Technical Field
[0001] The utility model relates to the technical field of fruit sorting, in particular to a sorting system based on machine vision. Background Art
[0002] The fruits need to be packaged and transported after harvesting, and qualified products need to be screened when packaging and transporting the fruits. When picking the fruits, qualified fruits need to be screened according to their size to facilitate the classification and transportation of the fruits, the subsequent sale of the fruits, and the processing of the fruit by-products.
[0003] However, it is laborious to manually sort fruits, and manual sorting of fruit sizes requires high concentration, and the naked eye can only roughly screen the size of the fruit. When machines are commonly used to sort fruits, when unqualified fruits are pushed out by telescopic rods, the push rods that telescope back and forth can easily get stuck and press the fruits, causing damage to the fruit skin. Therefore, this solution provides a sorting system based on machine vision. In the process of fruit size classification and screening, machine vision sorting is combined with the design of a push rod structure to avoid the impact of the shaft rod that telescopes back and forth and resets to clamp and crush the fruit. Utility Model Content
[0004] The purpose of the utility model is to provide a sorting system based on machine vision to solve the problems raised in the above background technology.
[0005] To achieve the above-mentioned purpose, the utility model provides the following technical solutions: a sorting system based on machine vision, comprising a machine vision module, a feed hopper, a frame and a sorting mechanism, wherein transmission wheels are installed at both ends of the frame, and the two transmission wheels are connected by a transmission belt, wherein the outer side of one transmission wheel is connected to a stepper motor, and the stepper motor is fixed to the outer side of the frame through a bracket, a support frame is fixedly installed on the frame, a lifting motor is fixedly installed on the top end of the support frame, and a fixing plate is installed on the bottom end of the lifting motor through a lifting shaft, the machine vision module comprises a light source, a camera, an image processing unit and a PLC controller, wherein a light source is arranged on the fixing plate, a camera is arranged on the bottom end of the fixing plate, a PLC controller is fixedly installed on the outer side of the support frame, an image processing unit is arranged on the PLC controller, and the camera and the image processing unit and the PLC controller are connected by USB cable signals;
[0006] The feed hopper is installed on the top of the end of the frame near the stepper motor, a first collecting box is arranged at the bottom of the front end discharge port of the frame, an inclined material distribution port is opened on the side of the frame, and a second collecting box is arranged at the bottom of the inclined material distribution port;
[0007] The sorting mechanism comprises an electric push rod, an electric telescopic shaft and a push plate, wherein the electric push rod is fixedly installed on the outside of the frame, the end of the electric push rod is connected to the push plate through the electric telescopic shaft, and the push plate is located on the transmission belt on the inner side of the frame;
[0008] A reel is rotatably mounted inside one of the side plates of the frame close to the electric push rod through a spring hinge shaft, a rubber belt is wound around the reel, and one end of the rubber belt passes through the side plate of the frame and is connected to the outer surface of the push plate.
[0009] Preferably, a support foot is installed at the bottom of the frame, and the stepper motor drives a transmission belt to perform cyclic uniform motion on the frame through a transmission wheel, and the stepper motor is electrically connected to a PLC controller.
[0010] Preferably, the push plate is arranged directly opposite to the inclined material distribution opening;
[0011] When the electric push rod is working, the push plate is driven to move toward the inclined material distribution port through the electric telescopic shaft. At this time, the rubber belt is pulled out from the inside of the side plate of the frame by the push plate.
[0012] When the electric push rod stops working, the push plate is located on the inner wall surface of the side plate of the frame, and the rubber belt is located inside the side plate of the frame. Beneficial Effects
[0013] The utility model provides a sorting system based on machine vision with the following beneficial effects:
[0014] In this solution, the captured fruit diameter size picture is compared with the pre-stored fruit diameter size picture through machine vision sorting. Fruits with diameters smaller than the set size are pushed out by the electric push rod through the push plate, completing the machine vision screening and grading of the fruit. Electric push rods and push plates for pushing materials are installed on the side panels of the frame, and a pull-out rubber belt is installed inside the side panels of the frame. When the push plate is pushed out, the rubber belt is brought out to form a limiting surface to block the subsequent fruit feeding on the transmission belt, thereby avoiding damage to the fruit's skin caused by the push plate moving back and forth and getting stuck in the electric telescopic rod, which provides convenience for fruit sorting. BRIEF DESCRIPTION OF THE DRAWINGS
[0015] Figure 1 It is a schematic diagram of the overall structure of the utility model;
[0016] Figure 2 It is a schematic diagram of the state in which the rubber belt follows the push plate to be pulled out in the utility model;
[0017] In the figure: 1. feed hopper; 2. frame; 3. transmission wheel; 4. transmission belt; 5. stepper motor; 6. support frame; 7. lifting motor; 8. fixing plate; 9. light source; 10. camera; 11. PLC controller; 12. first collecting box; 13. inclined material distribution port; 14. second collecting box; 15. electric push rod; 16. electric telescopic shaft; 17. push plate; 18. spring hinge shaft; 19. reel; 20. rubber belt; 21. supporting foot. DETAILED DESCRIPTION
[0018] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.
[0019] See also Figure 1-2 The utility model provides a technical solution: a sorting system based on machine vision, including a machine vision module, a feed hopper 1, a frame 2 and a sorting mechanism, a transmission wheel 3 is installed at both ends of the frame 2, and the two transmission wheels 3 are connected by a transmission belt 4, and a stepper motor 5 is connected to the outer side of the frame 2 through a bracket, a support frame 6 is fixedly installed on the frame 2, a lifting motor 7 is fixedly installed on the top of the support frame 6, and a fixed plate 8 is installed on the bottom end of the lifting motor 7 through a lifting shaft, and the machine vision module includes a light source 9, a camera 10, an image processing unit and a PLC controller 11, wherein a light source 9 is arranged on the fixed plate 8, a camera 10 is arranged at the bottom end of the fixed plate 8, a PLC controller 11 is fixedly installed on the outer side of the support frame 6, and an image processing unit is arranged on the PLC controller 11, and the camera 10 and the image processing unit and the PLC controller 11 are connected by USB cable signals;
[0020] The light source 9 is directed toward the bottom transmission belt 4 to provide a lighting effect for the camera 10 to capture the fruit skin. The size of the fruit captured by the camera 10 is used to compare with the diameter size of the fruit picture pre-stored in the image processing unit.
[0021] The feed hopper 1 is installed on the top of the end of the frame 2 near the stepper motor 5. A first collecting box 12 is arranged at the bottom of the front end discharge port of the frame 2. An inclined material distribution port 13 is opened on the side of the frame 2. A second collecting box 14 is arranged at the bottom of the inclined material distribution port 13.
[0022] The sorting mechanism includes an electric push rod 15, an electric telescopic shaft 16 and a push plate 17, wherein the electric push rod 15 is fixedly installed on the outside of the frame 2, the end of the electric push rod 15 is connected to the push plate 17 through the electric telescopic shaft 16, and the push plate 17 is located on the transmission belt 4 on the inner side of the frame 2;
[0023] A reel 19 is rotatably mounted inside one of the side panels of the frame 2 near the electric push rod 15 via a spring hinge shaft 18, and a rubber belt 20 is wound around the reel 19. One end of the rubber belt 20 passes through the side panel of the frame 2 and is connected to the outer surface of the push plate 17.
[0024] A support foot 21 is installed at the bottom of the frame 2. The stepper motor 5 drives the transmission belt 4 to perform cyclic uniform motion on the frame 2 through the transmission wheel 3. The stepper motor 5, the lifting motor 7 and the PLC controller 11 are electrically connected.
[0025] The push plate 17 is arranged opposite to the inclined dispensing opening 13, so that the push plate 17 can push out unqualified fruits from the inclined dispensing opening 13;
[0026] When the electric push rod 15 is working, the push plate 17 is driven to move toward the inclined material distribution port 13 through the electric telescopic shaft 16, and at this time, the rubber belt 20 is pulled out from the inside of the side plate of the frame 2 by the push plate 17;
[0027] When the electric push rod 15 stops working, the push plate 17 is located on the inner wall surface of the side plate of the frame 2 , and at this time, the rubber belt 20 is located inside the side plate of the frame 2 .
[0028] Working principle:
[0029] In this scheme, when fruits are classified and screened, they are put into the feeding hopper 1 and fall on the driving belt 4 of the frame 2. The width of the material channel at the frame 2 where the driving belt 4 is located is selected according to the size of the fruits. It is preferred to allow the fruits to be classified and screened to move sequentially on the driving belt 4.
[0030] The stepper motor 5 is controlled by the PLC controller 11 to move slowly and uniformly. Under the action of the stepper motor 5, the transmission belt 4 is driven by the transmission wheel 3 to move on the frame 2, so that the effect of uniform feeding of the fruit after it falls from the feed hopper 1 is achieved. Then the PLC controller 11 controls the lifting motor 7 to work, and the lifting motor 7 drives the fixed plate 8 to move downward, so that the camera 10 is close to the fruit on the bottom transmission belt 4. The PLC controller 11 controls the camera 10 to capture the fruit image, and the image data is transferred to the image processing unit through the USB connection line for processing. The diameter of the captured fruit is compared with the fruit diameter image pre-stored in the image processing unit. If the diameter in the pre-stored fruit image is 8CM, the fruit with a diameter less than 8CM is pushed toward the inclined material distribution port 13 by the electric push rod 15 to control the push plate 17 to move, so that the unqualified fruit with a diameter less than 8cm can be screened and graded.
[0031] After comparing the sizes of the fruit diameter images, the PLC controller 11 controls the electric push rod 15 to work, and the electric push rod 15 drives the push plate 17 to move toward the inclined material distribution port 13 through the electric telescopic shaft 16. The two sides of the push plate 17 are inclined. The push plate 17 pushes the fruits with a diameter less than 8 cm from the inclined material distribution port 13 and drops them into the second collection box 14. The normal fruits fall into the first collection box 12 along the transmission belt 4.
[0032] When the electric push rod 15 controls the electric telescopic shaft 16 to push the push plate 17 toward the inclined material distribution port 13, the two rubber belts 20 symmetrical about the electric telescopic shaft 16 are pulled out from the inside of the side plate of the frame 2. At this time, the fruit on the transmission belt 4 is held back by the rubber belt 20. When the electric telescopic shaft 16 is retracted, the push plate 17 is driven to retract toward the side plate surface of the frame 2. At this time, the transmission belt 4 is also pulled back by the spring hinge shaft 18 and wound on the reel 19. After the rubber belt 20 is retracted, the fruit held back by the rubber belt 20 falls into the first collection box 12 along the moving transmission belt 4.
[0033] The rubber belt 20 can prevent the fruit from being stuck on the electric telescopic rod 16 by the push plate 17 moving back and forth, thereby causing the skin to be damaged.
[0034] Therefore, this solution uses machine vision sorting to screen and classify unqualified defective products after the fruit skin is oxidized, and the fruit will not be clamped and damaged by the push plate 17 that moves back and forth during the feeding process on the transmission belt 4. In summary, the machine vision grading and screening operation of the fruit is completed, and the number of defective products that are easily damaged by the electric push rod during the pushing of the fruit is reduced.
[0035] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.
Claims
1. A sorting system based on machine vision, comprising a machine vision module, a feed hopper (1), a frame (2) and a sorting mechanism, characterized in that: The frame (2) is provided with transmission wheels (3) at both left and right ends, the two transmission wheels (3) are connected via a transmission belt (4), a stepper motor (5) is connected to the outer side of one of the transmission wheels (3), and the stepper motor (5) is fixed to the outer side of the frame (2) via a bracket, a support frame (6) is fixedly installed on the frame (2), a lifting motor (7) is fixedly installed on the top end of the support frame (6), a fixing plate (8) is installed on the bottom end of the lifting motor (7) via a lifting shaft, the machine vision module comprises a light source (9), a camera (10), an image processing unit and a PLC controller (11), wherein the light source (9) is arranged on the fixing plate (8), the camera (10) is arranged at the bottom end of the fixing plate (8), the PLC controller (11) is fixedly installed on the outer side of the support frame (6), the image processing unit is arranged on the PLC controller (11), and the camera (10) and the image processing unit and the PLC controller (11) are connected via USB cable signals; The feed hopper (1) is mounted on the top of the end of the frame (2) near the stepper motor (5); a first collecting box (12) is arranged at the bottom of the front end discharge port of the frame (2); an inclined material distribution port (13) is opened on the side of the frame (2); and a second collecting box (14) is arranged at the bottom of the inclined material distribution port (13); The sorting mechanism comprises an electric push rod (15), an electric telescopic shaft (16) and a push plate (17), wherein the electric push rod (15) is fixedly mounted on the outside of the frame (2), the end of the electric push rod (15) is connected to the push plate (17) via the electric telescopic shaft (16), and the push plate (17) is located on a transmission belt (4) on the inside of the frame (2); A reel (19) is rotatably mounted inside one of the side panels of the frame (2) near the electric push rod (15) via a spring hinge shaft (18), a rubber belt (20) is wound around the reel (19), and one end of the rubber belt (20) passes through the side panel of the frame (2) and is connected to the outer surface of the push plate (17).
2. A sorting system based on machine vision according to claim 1, characterized in that: A support foot (21) is installed at the bottom of the frame (2); the stepper motor (5) drives a transmission belt (4) via a transmission wheel (3) to perform cyclic uniform motion on the frame (2); and the stepper motor (5) is electrically connected to a PLC controller (11).
3. A sorting system based on machine vision according to claim 2, characterized in that: The push plate (17) is arranged opposite to the inclined material distribution opening (13); When the electric push rod (15) is working, the push plate (17) is driven to move toward the inclined material distribution opening (13) through the electric telescopic shaft (16), and at this time, the rubber belt (20) is pulled out from the inside of the side plate of the frame (2) by the push plate (17); When the electric push rod (15) stops working, the push plate (17) is located on the inner wall surface of the side plate of the frame (2), and at this time, the rubber belt (20) is located inside the side plate of the frame (2).