A machine vision-based intelligent sorting and quality inspection device for jujubes

Abstract

This utility model discloses a machine vision-based intelligent sorting and quality inspection device for jujubes, including an electric conveyor belt for feeding, with a machine vision-based sorting platform installed at one end of the conveyor belt. When the device is in operation, after the feeding mechanism feeds the jujubes into the inspection port, the pressure sensor inside senses the pressure value. This allows for both weighing the jujubes and triggering the inspection mechanism. Specifically, the servo motor inside the machine vision-based sorting platform starts, and with the encoder's angle control feedback function, it controls the drive turntable to rotate 90 degrees each time, sequentially passing the jujubes through a color CCD camera, a near-infrared camera, and a 3D structured light camera. This enables the detection of surface color and defects, analysis of internal sugar and moisture content, and acquisition of three-dimensional size and shape data, thereby improving the subsequent sorting accuracy.

Description

Technical Field

[0001] This utility model relates to the technical field of jujube sorting and quality inspection devices, specifically a machine vision-based intelligent jujube sorting and quality inspection device. Background Technology

[0002] As a high-value fresh fruit, the sorting and quality testing of jujubes are key links in the standardization and branding of the industrial chain. Large fruit and vegetable wholesale markets often need to grade and package jujubes to supply different customers according to their grade.

[0003] Traditional manual sorting relies on experience, is inefficient, and is prone to errors due to human fatigue. Furthermore, it cannot detect the internal quality of jujube products. Based on this, we propose a novel intelligent sorting and quality inspection device for jujubes based on machine vision. Utility Model Content

[0004] The purpose of this invention is to provide a machine vision-based intelligent sorting and quality inspection device for jujubes to solve the problems mentioned in the background art.

[0005] To achieve the above objectives, this utility model provides the following technical solution: a machine vision-based intelligent sorting and quality inspection device for jujubes, comprising an electric conveyor belt for feeding, a machine vision-based sorting table installed at one end of the electric conveyor belt, a PLC controller embedded on one side of the machine vision-based sorting table, a drive turntable rotatably connected to the top of the machine vision-based sorting table, a detection port provided at the end of the drive turntable near the electric conveyor belt for feeding, a pressure sensor installed at the bottom of the detection port, a color CCD camera, a near-infrared camera, and a 3D structured light camera matched with the detection port sequentially installed at the edge of the machine vision-based sorting table, telescopic cylinders uniformly installed at the bottom of the machine vision-based sorting table by screws, the output end of the telescopic cylinders connected to a housing, a servo motor and an encoder installed inside both the housing and the machine vision-based sorting table, a robotic arm rotatably connected to the top of the housing, and an electric clamp installed at the output end of the robotic arm.

[0006] Preferably, limit baffles are installed at both ends of the top of the electric conveyor belt for feeding.

[0007] Preferably, one end of the limiting baffle is provided with a vertical adjusting slide arm that is slidably connected to the electric conveyor belt for feeding, and a screw is provided between the vertical adjusting slide arm and the electric conveyor belt for feeding.

[0008] Preferably, the detection port, color CCD camera, near-infrared camera, and 3D structured light camera are distributed at equal angles on the machine vision-based sorting table.

[0009] Preferably, the machine vision-based sorting station is fixed with a mounting bracket that matches the color CCD camera, the near-infrared camera, and the 3D structured light camera in sequence at its edge.

[0010] Preferably, the color CCD camera, near-infrared camera, and 3D structured light camera are respectively mounted on the top of the mounting bracket with screws, which facilitates the independent disassembly and maintenance of the color CCD camera, near-infrared camera, and 3D structured light camera.

[0011] Preferably, three receiving boxes are uniformly fitted onto the end of the housing away from the machine vision-based sorting table, and the inside of each receiving box is provided with a sponge cushioning layer.

[0012] Preferably, the top of the machine vision-based sorting platform outside the servo motor is provided with an annular guide cavity, and the bottom of the drive turntable is provided with a guide slider that matches the annular guide cavity, thereby improving the smoothness of the drive turntable's rotation.

[0013] Compared with the prior art, the beneficial effects of this utility model are:

[0014] (1) The machine vision-based intelligent sorting and quality inspection device for jujubes optimizes its performance by setting up inspection ports, etc. The feeding mechanism sends the jujube products into the inspection port located at the initial rightmost position. At this time, the pressure sensor inside the inspection port will sense the pressure value, which can weigh the jujube products and trigger the inspection mechanism to start through pressure sensing. Specifically, the servo motor inside the machine vision-based sorting table starts, and with the angle control feedback function of the encoder, it can control the drive turntable to rotate 90 degrees each time, passing through the color CCD camera, near-infrared camera and 3D structured light camera in sequence, respectively realizing the functions of detecting the surface color and defects of the jujube products, analyzing the internal sugar content and moisture content of the jujube products, and obtaining the three-dimensional size and shape data of the jujube products. This makes the device integrate three-level machine vision-based detection and analysis functions for jujube products, improve the subsequent sorting accuracy, and has strong functionality.

[0015] (2) The machine vision-based intelligent sorting and quality inspection device for jujubes is equipped with a robotic arm, so that when the device is running, the inspection data of the jujube products that have completed multi-level sorting and inspection processing based on machine vision are analyzed and processed by the PLC controller. The PLC controller will control the running trajectory of the robotic arm, so that the electric clamp at its output end will clamp the products on the drive turntable and then transport them to the corresponding receiving box. The three receiving boxes respectively realize the collection of special grade products, ordinary qualified products and unqualified products, which enables the device to realize the automated sorting and receiving function.

[0016] (3) The machine vision-based intelligent sorting and quality inspection device for green jujubes has optimized its structure by installing an electric conveyor belt for feeding. When the electric conveyor belt for feeding is started, it can automatically transport the green jujube products poured on it forward. The user can use the sliding connection between the vertical adjustment arm at the end of the limit baffle and the electric conveyor belt for feeding, combined with the locking and fixing effect of the screws, to adjust the position and relative distance of the two limit baffles. This can limit the green jujube products on the electric conveyor belt for feeding, realize the uniform automatic feeding of green jujube products one by one, and facilitate subsequent sorting operations. Attached Figure Description

[0017] Figure 1 This is a front view structural diagram of the present invention;

[0018] Figure 2 This is a top view schematic diagram of the sorting table structure based on machine vision according to this utility model;

[0019] Figure 3 This is a top view of the limiting baffle structure of this utility model;

[0020] Figure 4 This is a front view structural diagram of the robotic arm of this utility model;

[0021] Figure 5 This is a top view of a partial cross-sectional structure of the fixing frame of this utility model.

[0022] In the diagram: 1. Robotic arm; 2. Machine vision-based sorting table; 3. PLC controller; 4. Electric conveyor belt for feeding; 5. Fixture; 6. Color CCD camera; 7. Detection port; 8. Pressure sensor; 9. Drive turntable; 10. 3D structured light camera; 11. Near-infrared camera; 12. Limit baffle; 13. Vertical adjustment slide arm; 14. Electric clamp; 15. Servo motor; 16. Housing; 17. Telescopic cylinder; 18. Receiving box; 19. Encoder; 20. Annular guide cavity; 21. Guide slider. Detailed Implementation

[0023] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of the present utility model without creative effort are within the scope of protection of the present utility model.

[0024] Please see Figure 1-5 The present invention provides an embodiment of a machine vision-based intelligent sorting and quality inspection device for jujubes, including an electric conveyor belt 4 for feeding, and a machine vision-based sorting table 2 installed at one end of the electric conveyor belt 4.

[0025] A PLC controller 3 is embedded on one side of the machine vision-based sorting table 2. A drive turntable 9 is rotatably connected to the top of the machine vision-based sorting table 2. A detection port 7 is set at one end of the drive turntable 9 near the electric conveyor belt 4 for feeding. A pressure sensor 8 is installed at the bottom of the detection port 7.

[0026] A color CCD camera 6, a near-infrared camera 11, and a 3D structured light camera 10, which are matched with the detection port 7, are sequentially installed at the edge of the machine vision-based sorting station 2.

[0027] The bottom of the machine vision-based sorting table 2 is uniformly equipped with telescopic cylinders 17 by screws. The output end of the telescopic cylinders 17 is connected to the housing 16. Both the housing 16 and the machine vision-based sorting table 2 are equipped with servo motors 15 and encoders 19.

[0028] The detection port 7, color CCD camera 6, near-infrared camera 11 and 3D structured light camera 10 are distributed at equal angles on the machine vision-based sorting table 2.

[0029] The machine vision-based sorting table 2 is fixed with a mounting bracket 5 that matches the color CCD camera 6, the near-infrared camera 11, and the 3D structured light camera 10 in sequence at its edge.

[0030] The color CCD camera 6, the near-infrared camera 11, and the 3D structured light camera 10 are respectively installed on the top of the inside of the mounting bracket 5 by screws, which makes it easy to independently disassemble and maintain the color CCD camera 6, the near-infrared camera 11, and the 3D structured light camera 10.

[0031] In use, the feeding mechanism sends the jujube product into the detection port 7, which is initially located at the rightmost end. At this time, the pressure sensor 8 inside the detection port 7 will sense the pressure value, which can both weigh the jujube product and trigger the detection mechanism to start through pressure sensing. Specifically, the servo motor 15 inside the machine vision-based sorting table 2 starts, and with the angle control feedback function of the encoder 19, it can control the drive turntable 9 to rotate 90 degrees each time, passing through the color CCD camera 6, the near-infrared camera 11 and the 3D structured light camera 10 in sequence, respectively realizing the functions of detecting the surface color and defects of the jujube product, analyzing the internal sugar and moisture content of the jujube product, and acquiring the three-dimensional size and shape data of the jujube product. This makes the device integrate three-level machine vision-based detection and analysis functions for jujube products, improving the subsequent sorting accuracy and making it highly functional.

[0032] A robotic arm 1 is rotatably connected to the top of the housing 16, and an electric gripper 14 is installed at the output end of the robotic arm 1.

[0033] Three receiving boxes 18 are evenly mounted on one end of the housing 16 away from the machine vision-based sorting table 2. The inside of the receiving box 18 is provided with a sponge cushioning layer.

[0034] In use, after the detection data of the jujube products that have completed multi-level sorting and detection processing based on machine vision are analyzed and processed by the PLC controller 3, the PLC controller 3 will control the running trajectory of the robotic arm 1, so that the electric clamp 14 at its output end will clamp the products on the drive turntable 9 and then transport them to the corresponding receiving box 18. The three receiving boxes 18 respectively realize the collection of special grade products, ordinary qualified products and unqualified products, which enables the device to realize the automated sorting and receiving function.

[0035] Limit baffles 12 are installed at both ends of the top of the electric conveyor belt 4 for feeding;

[0036] One end of the limiting baffle 12 is provided with a vertical adjusting slide arm 13 that is slidably connected to the electric conveyor belt 4 for feeding, and a screw is provided between the vertical adjusting slide arm 13 and the electric conveyor belt 4 for feeding.

[0037] When in use, the electric conveyor belt 4 for feeding is started, which can automatically transport the jujube products poured on it forward. The user can use the sliding connection between the vertical adjustment sliding arm 13 at the end of the limit baffle 12 and the electric conveyor belt 4 for feeding, along with the locking and fixing effect of the screws, to adjust the position and relative distance of the two limit baffles 12. This can limit the jujube products on the electric conveyor belt 4 for feeding, so as to realize the uniform automatic feeding of the jujube products one by one, which is convenient for subsequent sorting operations.

[0038] An annular guide cavity 20 is provided on the top of the machine vision-based sorting table 2 outside the servo motor 15, and a guide slider 21 matching the annular guide cavity 20 is provided at the bottom of the drive turntable 9, which improves the smoothness of the drive turntable 9 during rotation.

[0039] In this embodiment, when in use: An external power supply is connected. First, the electric conveyor belt 4 for feeding is started, automatically transporting the jujube products poured onto it forward. The user can utilize the sliding connection between the vertical adjusting arm 13 at the end of the limit baffle 12 and the electric conveyor belt 4, along with the locking action of screws, to adjust the position and relative distance of the two limit baffles 12. This limits the jujube products on the electric conveyor belt 4, achieving uniform and automatic feeding of each jujube product individually, facilitating subsequent sorting operations. The feeding mechanism delivers the jujube products into the detection port 7, initially at the rightmost position. At this time, the pressure sensor 8 inside the detection port 7 senses the pressure value, enabling both weighing of the jujube product and triggering the detection mechanism to start. Specifically, the servo motor 15 inside the machine vision-based sorting table 2 starts, and with the angle control feedback function of the encoder 19, it can... The device controls the drive turntable 9 to rotate 90 degrees each time, passing through a color CCD camera 6, a near-infrared camera 11, and a 3D structured light camera 10 in sequence. These cameras detect the surface color and defects of the jujube products, analyze the internal sugar and moisture content, and acquire the three-dimensional dimensions and shape data of the jujube products. This integrates three-level machine vision-based detection and analysis functions for jujube products, improving subsequent sorting accuracy and enhancing functionality. Furthermore, after the detection data of the jujube products that have completed multi-level machine vision-based sorting and detection operations are analyzed and processed by the PLC controller 3, the PLC controller 3 controls the running trajectory of the robotic arm 1, causing the electric clamp 14 at its output end to clamp the products on the drive turntable 9 and transport them to the corresponding receiving boxes 18. The three receiving boxes 18 respectively collect premium-grade products, ordinary qualified products, and unqualified products, enabling the device to achieve automated sorting and receiving functions.

Claims

1. A machine vision-based intelligent sorting and quality detection device for green dates, characterized in that, The system includes an electric conveyor belt (4) for feeding materials, one end of which is equipped with a machine vision-based sorting table (2). A PLC controller (3) is embedded on one side of the machine vision-based sorting table (2). A drive turntable (9) is rotatably connected to the top of the machine vision-based sorting table (2). A detection port (7) is provided at one end of the drive turntable (9) near the electric conveyor belt (4). A pressure sensor (8) is installed at the bottom of the detection port (7). A detection sensor is installed sequentially at the edge of the machine vision-based sorting table (2). The machine vision-based sorting table (2) is equipped with a color CCD camera (6), a near-infrared camera (11) and a 3D structured light camera (10) that match the mouth (7). The bottom end of the machine vision-based sorting table (2) is uniformly equipped with telescopic cylinders (17) by screws. The output end of the telescopic cylinders (17) is connected to the housing (16). The housing (16) and the machine vision-based sorting table (2) are both equipped with servo motors (15) and encoders (19). The top of the housing (16) is rotatably connected to a robotic arm (1). The output end of the robotic arm (1) is equipped with an electric clamp (14).

2. The machine vision-based intelligent sorting and quality detection device for green dates according to claim 1, characterized in that: Limiting baffles (12) are installed at both ends of the top of the electric conveyor belt (4) for feeding.

3. The intelligent sorting and quality inspection device for jujubes based on machine vision according to claim 2, characterized in that: One end of the limiting baffle (12) is provided with a vertical adjusting slide arm (13) that is slidably connected to the electric conveyor belt (4) for feeding, and a screw is provided between the vertical adjusting slide arm (13) and the electric conveyor belt (4) for feeding.

4. The intelligent sorting and quality inspection device for jujubes based on machine vision according to claim 1, characterized in that: The detection port (7), color CCD camera (6), near-infrared camera (11) and 3D structured light camera (10) are distributed at equal angles on the machine vision-based sorting station (2).

5. The intelligent sorting and quality inspection device for jujubes based on machine vision according to claim 1, characterized in that: The machine vision-based sorting station (2) has a mounting bracket (5) that matches the color CCD camera (6), the near-infrared camera (11) and the 3D structured light camera (10) fixed at its edge.

6. The intelligent sorting and quality inspection device for jujubes based on machine vision according to claim 5, characterized in that: The color CCD camera (6), near-infrared camera (11) and 3D structured light camera (10) are respectively installed on the top of the fixture (5) by screws.

7. The intelligent sorting and quality inspection device for jujubes based on machine vision according to claim 1, characterized in that: The housing (16) is uniformly fitted with receiving boxes (18) at one end away from the machine vision-based sorting table (2). There are 3 receiving boxes (18), and the inside of the receiving box (18) is provided with a sponge buffer layer.

8. The intelligent sorting and quality inspection device for jujubes based on machine vision according to claim 1, characterized in that: The top of the machine vision-based sorting table (2) outside the servo motor (15) is provided with an annular guide cavity (20), and the bottom of the drive turntable (9) is provided with a guide slider (21) that matches the annular guide cavity (20).

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